0
Research Papers: SPECIAL SECTION PAPERS

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

[+] Author and Article Information
Jean-Claude Leon

Inria,
Grenoble University,
Grenoble 38000, France
e-mail: Jean-Claude.Leon@grenoble-inp.fr

Thomas Dupeux

Inria,
Grenoble 38000, France
e-mail: dupeux.thomas@gmail.com

Jean-Rémy Chardonnet

Arts et Métiers ParisTech,
Chalon-sur-Saône 71100,
France
e-mail: Jean-Remy.Chardonnet@ensam.eu

Jérôme Perret

Haption,
Laval 53000, France
e-mail: jerome.perret@haption.com

Contributed by the Virtual Environments and Systems Committee of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received January 6, 2016; final manuscript received March 1, 2016; published online June 30, 2016. Assoc. Editor: Francesco Ferrise.

J. Comput. Inf. Sci. Eng 16(3), 030903 (Jun 30, 2016) (10 pages) Paper No: JCISE-16-1009; doi: 10.1115/1.4033291 History: Received January 06, 2016; Revised March 01, 2016

The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand.

FIGURES IN THIS ARTICLE
<>
Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Boothroyd, G. , and Alting, L. , 1992, “ Design for Assembly and Disassembly,” Ann. CIRP, 41(2), pp. 625–636. [CrossRef]
Kyota, F. , and Saito, S. , 2012, “ Fast Grasp Synthesis for Various Shaped Objects,” Comput. Graphics Forum, 31(2), pp. 765–774. [CrossRef]
Ciocarlie, M. , and Allen, P. K. , 2009, “ Hand Postures Subspaces for Dexterous Robotic Grasping,” Int. J. Rob. Res., 28(7), pp. 851–867. [CrossRef]
Jayaram, S. , Jayaram, U. , Kim, Y. J. , de Chenne, C. , Lyons, K. W. , Palmer, C. , and Mitsui, T. , 2007, “ Industry Case Studies in the Use of Immersive Virtual Assembly,” Virtual Reality J., 11(4), pp. 217–228. [CrossRef]
Perret, J. , Kneschke, C. , Vance, J. M. , and Dumont, G. , 2013, “ Interactive Assembly Simulation With Haptic Feedback,” Assembly Autom., 33(3), pp. 214–220.
Haption Website, last accessed Apr. 01, 2016, http://www.haption.com
Bowman, D. A. , Kruijff, E. , Laviola, J. J. , and Poupyrev, I. , 2004, 3D User Interfaces: Theory and Pratice, Addison Wesley-Pearson Education, Boston, MA.
Steinfeld, E. , 1986, Hands-On Architecture: Executive Summary and Recommended Guidelines, Architectural and Transportation Barriers Compliance Board, Washington, D.C.
Massie, T. H. , and Salisbury, J. K. , 1994, “ The PHANTOM Haptic Interface: A Device for Probing Virtual Objects,” ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, Vol. 55, pp. 295–300.
Kim, S. , Koike, Y. , and Sato, M. , 2002, “ Tension Based 7 DOFs Force Feedback Device: SPIDAR-G,” Trans. Control Autom. Syst. Eng., 4(1), pp. 9–16.
Murayama, J. , Bougrila, L. , Luo, Y. , Akahane, K. , Hasegawa, S. , Hirsbrunner, B. , and Sato, M. , 2004, “ SPIDAR G&G, A Two-Handed Haptic Interface for Bimanual VR Interaction,” International Conference on EuroHaptics, pp. 138–146.
Liu, L. , Miyake, S. , Maruyama, N. , Akahane, K. , and Sato, M. , 2014, “ Development of Two-Handed Multi-Finger Haptic Interface SPIDAR-10,” 9th International Conference on EuroHaptics, Versailles, France, June 24–26, pp. 176–183.
Koyama, T. , Yamano, I. , Takemura, K. , and Maeno, T. , 2002, “ Multi-Fingered Exoskeleton Haptic Device Using Passive Force Feedback for Dexterous Teleoperation,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2905–2910.
Burdea, G. , 1996, Force and Touch Feedback for Virtual Reality, Wiley, New York.
Endo, T. , Kawasaki, H. , Mouri, T. , Ishigure, Y. , Shimomura, H. , Matsumura, M. , and Koketsu, K. , 2011, “ Five-Fingered Haptic Interface Robot: HIRO III,” IEEE Trans. Haptics, 4(1), pp. 14–27. [CrossRef] [PubMed]
López, J. , Breñosa, J. , Galiana, I. , Ferre, M. , Gimenez, A. , and Barrio, J. , 2012, “ Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation,” J. Mech. Eng., 58(7–8), pp. 431–443. [CrossRef]
Sone, J. , Yamada, K. , Kaneko, I. , Chen, J. , Kurosu, T. , Hasegawa, S. , and Sato, M. , 2009, “ Mechanical Design of Multi-Finger Haptic Display Allowing Changes in Contact Location,” 8th International Conference on Virtual Reality Continuum and its Applications in Industry (VRCAI), pp. 275–276.
Leuschke, R. , Kurihara, E. K. T. , Dosher, J. , and Hannaford, B. , 2005, “ High Fidelity Multi Finger Haptic Display,” First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, WHC, Pisa, Italy, Mar. 18–20, pp. 606–608.
Chardonnet, J.-R. , and Léon, J.-C. , 2010, “ Design of an Immersive Peripheral for Object Grasping,” ASME Paper No. DETC2010-28416.
Harwin, W. , and Barrow, A. , 2013, “ Multi-Finger Grasps in a Dynamic Environment,” Multi-Finger Haptic Interaction, I. Galiana , and M. Ferre , eds., Springer-Verlag, London.
Lin, M. , and Manosha, D. , 2003, “ Collision and Proximity Queries,” Handbook of Discrete and Computational Geometry, J. E. Goodman , and J. O’Rourke , eds., CRC Press, Boca Raton, FL, pp. 787–808.
Redon, S. , Kim, Y. J. , Lin, M. C. , and Manosha, D. , 2005, “ Fast Continuous Collision Detection for Articulated Models,” ASME J. Comput. Inf. Sci. Eng., 5(2), pp. 126–137. [CrossRef]
Lin, M. , and Otaduy, M. A. , eds., 2008, Haptic Rendering, A K Peters, Natik, MA.
Zhai, S. , Milgram, P. , and Buxton, W. , 1996, “ The Influence of Muscle Groups on Performance of Multiple Degree-of-Freedom Input,” SIGCHI Conference on Human Factors in Computing Systems, pp. 308–315.
Lecuyer, A. , Coquillart, S. , Kheddar, A. , Richard, P. , and Coiffet, P. , 2000, “ Pseudo-Haptic Feedback: Can Isometric Input Devices Simulate Force Feedback?,” IEEE Virtual Reality, New Brunswick, NJ, pp. 83–90.
Pai, D. K. , Vanderloo, E. W. , Sadhukhan, S. , and Kry, P. G. , 2005, “ The Tango: A Tangible Tangoreceptive Whole-Hand Human Interface,” Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Mar. 18–20, pp. 141–147.
Kraeutner, S. , Gionfriddo, A. , Bardouille, T. , and Boe, S. , 2014, “ Motor Imagery-Based Brain Activity Parallels That of Motor Execution: Evidence From Magnetic Source Imaging of Cortial Oscillations,” J. Brain Res., 1588, pp. 81–91. [CrossRef]
Kern, T. A. , 2009, Engineering Haptic Devices, Springer, Berlin, Heidelberg.
Holz, D. , Ullrich, S. , Wolter, M. , and Kuhlen, T. , 2008, “ Multi-Contact Grasp Interaction for Virtual Environments,” J. Virtual Reality Broadcast., 5(7), pp. 1860–2037.

Figures

Grahic Jump Location
Fig. 1

HaptiHand add-on device as end effector of the Haption haptic arm

Grahic Jump Location
Fig. 2

Global structure of the haptic system including the HaptiHand add-on device

Grahic Jump Location
Fig. 4

Kinematics of the virtual hand. (a) unconstrained kinematic model, (b) kinematic model associated with the HaptiHand.

Grahic Jump Location
Fig. 7

One of the prototype modules incorporating the various actuators/sensors described and housed in 3D printed components

Grahic Jump Location
Fig. 8

CAD model of the HaptiHand. The top view shows the location of the major subsystems with the outer shell displayed in transparency mode. The bottom view shows the external view of the HaptiHand prototype. (A) Two photos of the physical prototype using opposite viewpoints.

Grahic Jump Location
Fig. 9

Chronogram of activation/de-activation of the sensors during a grasping task. (a) represents the threshold to de-activate grasping, (b) the threshold to activate grasping, and (c) the collision detection.

Grahic Jump Location
Fig. 10

General architecture of the software application

Grahic Jump Location
Fig. 11

Mechanical model of the contact virtual hand/object

Grahic Jump Location
Fig. 12

Typical pressure sensor signal reflecting a stepwise pressure increase and pressure decrease as applied qualitatively by the user

Grahic Jump Location
Fig. 13

Comparison of design variants of the damping system

Grahic Jump Location
Fig. 14

Frequency spectrum of the excitation perceived by the user in his/her palm

Grahic Jump Location
Fig. 15

Example of manipulation task using the HaptiHand (from left to right: steps 1, 2, 4, 6, 7 in the chronogram of Fig. 8 and free motion of the hand)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In