A GLOVE INTERFACE WITH TACTILE FEELING DISPLAY FOR HUMANOID ROBOTICS AND VIRTUAL REALITY SYSTEMS

Michele Folgheraiter, Giuseppina Gini, Dario L. Vercesi

2005

Abstract

This paper focuses on the study and the experimentation of a glove interface for robotics and virtual reality applications. The system can acquire the phalanxes position and force of an operator during the execution of a grasp. We show how it is possible to use and integrate this data in order to permit the user to interact with a synthetic world. In particular the system we designed can reproduce tactile and force sensation. Electrodes and actuators are activated according to the information coming from the real world (position and force of the user’s finger) and from a physical model that represents the virtual object. We also report some psychophysical experiments we conducted on five subjects, in this case only the electro-tactile stimulator was used in order to generate a touch sensation.

References

  1. Ambrose, R., Askew, S., Bluethmann, W., Diftler, M., and Lockheed, M. (2001). Humanoids designed to do work. Proc. IEEE-RAS Humanoids2001 Conference,Tokyo,Japan, pages 173-180.
  2. Bach-Y-Rita, P., Tyler, M. E., and Kaczmarek, K. A. (2003). Seeing with the brain. Internationa Journal of Human-Computer Interaction, 15(2).
  3. Bouzit, M., Popescu, G., Burdea, G., and Boian, R. (2002). The rutgers master ii-nd force feedback glove. Proceedings of IEEE VR Haptics Symposium.
  4. Burdea, G. C. (1999). Haptic feedback for virtual reality. In Proc. Virtual Reality and Prototyping Workshop.
  5. Darley, J. M., Glucksberg, S., and Kinchla, R. A. (1994). Psicologia. Il Mulino Prentice Hall International.
  6. Fahn, C. S. and Sun, H. (2000). Development of a sensory data glove. In Proc. ICAT 2000.
  7. Folgheraiter, M., Baragiola, I., and Gini, G.(2004) Teaching grasping to a humanoid hand as a generalization of human grasping data. Lecture Notes in Computer Science, 3303 / 2004:139.
  8. Guyton, A. C. (6th Edition, 1987). Textbook of Medical Physiology. Saunders Company, Philadelphia, PA.
  9. Hodgkin, A. L. and Huxley, A. F. (1952). A quantitative description of membrane current and its application to conduction and excitation in nerve. Science.
  10. Adams, J. R., Klowden, D., and Hannaford, B. (2001). Virtual training for a manual assembly task. Haptics-e, 2(2).
  11. Kaczmarek, K. A. and Webster, J. G. (1989). Voltagecurrent characteristics of the electrotactile skin.electrode interface. IEEE Engineering in Medicine and Biology Society 11TH Annual International Conference.
  12. Kajimoto, H., Kawakami, N., Maeda, T., and Tachi, S. (1999). Tactile feeling display using functional electrical stimulation. In Proc. ICAT'99.
  13. Melzack, R. and Wall, P. D. (1965). Pain mechanisms. a new theory. Science, 150(971-9).
Download


Paper Citation


in Harvard Style

Folgheraiter M., Gini G. and L. Vercesi D. (2005). A GLOVE INTERFACE WITH TACTILE FEELING DISPLAY FOR HUMANOID ROBOTICS AND VIRTUAL REALITY SYSTEMS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 353-360. DOI: 10.5220/0001166703530360


in Bibtex Style

@conference{icinco05,
author={Michele Folgheraiter and Giuseppina Gini and Dario L. Vercesi},
title={A GLOVE INTERFACE WITH TACTILE FEELING DISPLAY FOR HUMANOID ROBOTICS AND VIRTUAL REALITY SYSTEMS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={353-360},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001166703530360},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A GLOVE INTERFACE WITH TACTILE FEELING DISPLAY FOR HUMANOID ROBOTICS AND VIRTUAL REALITY SYSTEMS
SN - 972-8865-30-9
AU - Folgheraiter M.
AU - Gini G.
AU - L. Vercesi D.
PY - 2005
SP - 353
EP - 360
DO - 10.5220/0001166703530360