Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger
Published in IEEE Conference on Telepresence, 2024
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model.
Recommended citation: J. Su*, K. Zuo and Z. Chua, "Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger," 2024 IEEE Conference on Telepresence, Pasadena, CA, USA, 2024, pp. 79-86.
Download Paper | Download Bibtex