Designing an encountered-type haptic display for multiple fingertip contacts based on the observation of human grasping behavior

Author

Yokokohji, Yasuyoshi ; Muramori, Nobuhiko ; Sato, Yuji ; Yoshikawa, Tsunco

Author_Institution

Dept. of Mech. Eng., Kyoto Univ., Japan

fYear

2004

fDate

27-28 March 2004

Firstpage

66

Lastpage

73

Abstract

Unlike conventional haptic devices, an encountered-type device is not held by a user all the time. Instead, the device stays at the location of a virtual object and waits for the user to encounter it. In this paper, we extend this concept to fingertip contacts and design an encountered-type haptic display for multiple fingertip contacts to simulate tasks of grasping an object with any shape and size. Before designing the device, we intensively observed human grasping behaviors. This observation was very helpful to determine the mechanism of the device. An encountered-type device for three-fingered grasping was actually prototyped based on our design.

Keywords

dexterous manipulators; haptic interfaces; human factors; virtual reality; encountered-type haptic display; haptic devices; human grasping behavior; multiple fingertip contact; three-fingered grasping; virtual object; Displays; Grasping; Haptic interfaces; Humans; Teleoperators; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. 12th International Symposium on

Conference_Location

Chicago, IL, USA

Print_ISBN

0-7695-2112-6

Type

conf

DOI

10.1109/HAPTIC.2004.1287179

Filename

1287179