Full-Arm Haptics in an Accessibility Task

This paper develops haptic rendering for the Sarcos dextrous teleoperation system, a full-arm force-feedback device, and demonstrates a virtual prototyping application where a user must access a particular location in a mechanical system and apply forces. A user study suggests that users receiving full-arm force-feedback were able to more quickly access the desired portion of the mechanical system and could more easily generate required forces. Thus, for this task, the full-arm haptics were shown to have better virtual prototyping predictive capabilities and better ergonomic factors for users.