Communication Dans Un Congrès Année : 2024

The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the Palm

Résumé

This paper introduces a 7-degrees-of-freedom (7-DoF) hand-mounted haptic device, the “HapticSpider”. It is composed of a parallel mechanism characterised by eight legs with an articulated diamond-shaped structure, in turn connected to an origami-like shape-changing end-effector. The device can render surface and edge touch simulations as well as apply normal, shear, and twist forces to the palm. This paper presents the device’s mechanical structure, a summary of its kinematic model, actuation control, and preliminary device evaluation, characterizing its workspace and force output.

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Dates et versions

hal-04553466 , version 1 (20-04-2024)

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Lisheng Kuang, Monica Malvezzi, Domenico Prattichizzo, Paolo Robuffo Giordano, Francesco Chinello, et al.. The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the Palm. EUROHAPTICS 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.285-292, ⟨10.1007/978-3-031-70058-3_23⟩. ⟨hal-04553466⟩
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