Discrete Cutaneous Feedback for Reducing Dimensions of Wearable Haptic Devices

Daniele Leonardis,Massimiliano Gabardi,Michele Barsotti,Antonio Frisoli

doi:10.3389/frvir.2022.820266

Daniele Leonardis, Massimiliano Gabardi + Show 2 more

Open Access

https://doi.org/10.3389/frvir.2022.820266

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Abstract

In this article, we explore alternative cutaneous haptic feedback for rendering modulation of the grasping force. The aim of the study was to reduce power requirements and in turn dimensions of the actuators, in wearable devices applied to virtual or teleoperated manipulation. This is critical in certain rehabilitation or training scenarios where haptics should not interfere with dexterity of the user. In the study, we experimented discrete, pulsed cutaneous force feedback and compared it with conventional continuous proportional feedback, in a virtual pick and place task. We made use of wearable thimbles based on voice coil actuators in order to provide high-quality, low-noise haptic feedback to the participants. The evaluation was performed on the basis of both objective measurements of task performance (measured virtual forces and correct ratio) and a questionnaire evaluating participants’ preferences for the different feedback conditions. On the basis of the obtained results, in the article, we discuss the possibility of providing high-frequency, discretized cutaneous feedback only, driven by modulation of the grasping force. The opportunity is to reduce volume and mass of the actuators and also to consider alternative design solutions, due to the different requirements in terms of static and high-frequency components of the output force.

Highlights

Haptic rendering of physical interaction in teleoperated or virtual manipulation tasks is a challenging and extensively explored research field; in manipulation tasks, haptic perception is a fundamental sensory pathway for task execution
We developed a conceptually similar force feedback strategy, based on discrete haptic cues triggered by the exerted virtual grasping force
We investigated a strategy for rendering haptic feedback, informative of grasping force modulation, by means of discrete, highfrequency cues

Summary

Introduction

Haptic rendering of physical interaction in teleoperated or virtual manipulation tasks is a challenging and extensively explored research field; in manipulation tasks, haptic perception is a fundamental sensory pathway for task execution. Concerning the design of wearable haptic devices for the fingertip segment, the literature includes a variety of proposed designs for rendering specific haptic cues, such as vibratory (Solazzi et al, 2010), contact orientation (Chinello et al, 2015), contact force (Leonardis et al, 2015), area of contact Fani et al (2017), thermal (Gallo et al, 2015), or a combination of the aforementioned feedback (Wang et al, 2019; Gabardi et al, 2018). Recent research applications of haptic feedback include rehabilitation systems based on virtual exercises Gutiérrez et al (2021), virtual serious games (Bortone et al, 2017), and robotic teleoperation (Klamt et al, 2020). To replicate the correct physical interaction that occurs when the fingertip touches a virtual object is a challenging objective (Caldwell et al, 1997), and concerning fingertip haptic devices, practical

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