Virtual Texture Generated using Elastomeric Conductive Block Copolymer in Wireless Multimodal Haptic Glove.

Colin V Keef,Ying Shirley Meng,Stazia Tronboll,Laure V Kayser,Daniel M Davies,Cody W Carpenter,Nicholas B Root,Sami N Abuhamdieh,Darren J Lipomi,Timothy F O'Connor,Mickey Finn,Vilayanur S Ramachandran,Rory Runser

doi:10.1002/aisy.202000018

Abstract

Haptic devices are in general more adept at mimicking the bulk properties of materials than they are at mimicking the surface properties. This paper describes a haptic glove capable of producing sensations reminiscent of three types of near-surface properties: hardness, temperature, and roughness. To accomplish this mixed mode of stimulation, three types of haptic actuators were combined: vibrotactile motors, thermoelectric devices, and electrotactile electrodes made from a stretchable conductive polymer synthesized in our laboratory. This polymer consisted of a stretchable polyanion which served as a scaffold for the polymerization of poly(3,4-ethylenedioxythiophene) (PEDOT). The scaffold was synthesized using controlled radical polymerization to afford material of low dispersity, relatively high conductivity (0.1 S cm-1), and low impedance relative to metals. The glove was equipped with flex sensors to make it possible to control a robotic hand and a hand in virtual reality (VR). In psychophysical experiments, human participants were able to discern combinations of electrotactile, vibrotactile, and thermal stimulation in VR. Participants trained to associate these sensations with roughness, hardness, and temperature had an overall accuracy of 98%, while untrained participants had an accuracy of 85%. Sensations could similarly be conveyed using a robotic hand equipped with sensors for pressure and temperature.

Highlights

Materials than they are at mimicking the surface properties
The glove is equipped with flex sensors to make it possible to control a robotic hand and a hand in virtual reality (VR)
Approaches to mimic the properties of surfaces fall under the category of “surface haptics,” which uses a variety of primarily electrostatic phenomena are able to discern combinations of electrotactile, vibrotactile, and thermal to add a tactile dimension of interaction stimulation in VR

Summary

Introduction

A haptic glove is described which is capable of producing sensations reminiscent of three types of near-surface properties: hardness, temperature, and roughness. To accomplish this mixed mode of stimulation, three types of haptic actuators are combined: vibrotactile motors, thermoelectric devices, and electrotactile elecand experimental forms of robot-assisted surgery[3]—it is usually through manipulation of the kinesthetic (rather than tactile) sense. This article describes a haptic glove that combines three types of actuators capable of producing sensations reminiscent of the surface of objects: roughness, hardness, and temperature (Figure 1).

Results

Conclusion