An add-on device to perform dexterous grasping tasks with a haptic feedback system
Communication avec acte
Achieving grasping tasks in real time with haptic feedback may require the control of a large number of degrees of freedom (DOFs) to model hand and finger movements. This is mandatory to grasp objects with dexterity. Here, a new device called HaptiHand is proposed that can be added to a haptic feedback arm and provide the user with enough DOFs so that he/she can intuitively and dexterously grasp an object, modify the virtual hand configuration and number of fingers with respect to the object while manipulating the object. Furthermore, this device is non-invasive and enables the user to apply forces on the fingers of the virtual hand. The HaptiHand lies inside the user’s hand so that the user can apply and release pressure on it in a natural manner that is transferred to the virtual hand using metaphors. The focus is placed on the description of the technology and structure of the HaptiHand to justify the choices and explain the behavior of the HaptiHand during object grasping and releasing tasks. This is combined with a short description of the models used.
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Article dans une revue avec comité de lectureLÉON, Jean-Claude; DUPEUX, Thomas; CHARDONNET, Jean-Rémy; PERRET, Jérôme (American Society of Mechanical Engineers, 2016)The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force ...
Périphérique d'interaction apte à contrôler un élément de toucher et de préhension d'objets virtuels multidimensionnels BrevetCHARDONNET, Jean-Rémy; LEON, Jean-Claude (2013)L’invention concerne un périphérique d’interaction (1) apte à contrôler un élément de toucher et de préhension d’objets virtuels multidimensionnels, comportant au moins deux modules d’interaction (20), chaque module ...
Communication avec acteCHARDONNET, Jean-Rémy; LEON, Jean-Claude (IEEE, 2012)This paper presents a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. Based on the results of users’ tests on previous versions of our device and on the analysis of ...
Communication avec acteCHARDONNET, Jean-Rémy; LEON, Jean-Claude (2012)We present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom ...
Interaction peripheral device capable of controlling an element for touching and grasping multidimensional virtual objects BrevetCHARDONNET, Jean-Rémy; LEON, Jean-Claude (2015)An interaction peripheral device capable of controlling an element for touching and grasping multidimensional virtual objects, including at least two interaction modules, each interaction module being intended to be actuated ...