Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads , and their control system. These devices use the jamming phenomena to change the stiffn...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2017-03, Vol.85 (3-4), p.413-429
Main Authors: Zubrycki, Igor, Granosik, Grzegorz
Format: Article
Language:English
Subjects:
Artificial Intelligence
Control
Control systems
Control theory
Devices
Electrical Engineering
Engineering
Feedback
Haptics
Hardness
Jamming
Mechanical Engineering
Mechatronics
Robotics
Stiffness
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Summary:This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads , and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the operator with haptic feedback in a light weight and simple form.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-016-0392-6