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

[+] Author and Article Information
Jean-Claude Leon

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

Thomas Dupeux

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

Jean-Rémy Chardonnet

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

Jérôme Perret

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.

Copyright © 2016 by ASME
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Fig. 1

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

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Fig. 2

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

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Fig. 4

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

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Fig. 7

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

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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.

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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.

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Fig. 10

General architecture of the software application

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Fig. 11

Mechanical model of the contact virtual hand/object

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Fig. 12

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

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Fig. 13

Comparison of design variants of the damping system

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Fig. 14

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

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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)




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