\n\u30ed\u30dc\u30c3\u30c8\u5206\u91ce\u306b\u304a\u3051\u308b\u4e16\u754c\u6700\u9ad8\u5cf0\u306e\u56fd\u969b\u4f1a\u8b70\u3067\u3042\u308b2022 IEEE International conference on Robotics and Automation\uff08ICRA 2022\uff09\u306b\u304a\u3044\u3066\u3001\u6b21\u4e16\u4ee3\u30ed\u30dc\u30c3\u30c8\u7814\u7a76\u6a5f\u69cb\u306e\u7814\u7a76\u8005\u304cOutstanding Mechanisms and Design Paper Award – Finalist\u3092\u53d7\u8cde\u3057\u307e\u3057\u305f\u3002
\n![\"\"](\"https:\/\/www.waseda.jp\/inst\/fro\/assets\/uploads\/2022\/07\/2.png\")
<\/p>\n
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\nA Wearable Fingertip Cutaneous Haptic Device with Continuous Omnidirectional Motion Feedback (2022 IEEE International Conference on Robotics and Automation, pp. 8869\u20138875, May 2022)<\/p>\n
In both teleoperation in real space and exploration in virtual space, \u2018passive\u2019 and \u2018active\u2019 haptic feedback can help to improve the performance of the task, especially in object handover and exploring. However, the current wearable haptic devices are hard to display continuous omnidirectional motion feedback simultaneously, which makes it not yet achieved. In this study, we thus propose a cutaneous haptic device, which enables continuous omnidirectional motion feedback for exhibiting \u2018active\u2019 and \u2018passive\u2019 haptic feedback. By applying small smart actuators (i.e., piezo actuators), the device can obtain contact force and be wearable. By arranging the closed loop with a plain-woven structure, our device makes continuous omnidirectional motion feedback possible. Our 35 g device can generate 0.94 N contact force and 0.5 N shear force. The passive and active haptic evaluations also proved its haptic capability. In conclusion, our proposed device with \u2018active\u2019 and \u2018passive\u2019 haptic feedback can provide continuous omnidirectional motion making it possible to be used for precise teleoperation.<\/p>\n
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