Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove

Qianqian Tong; Weipeng Shen; Dangxiao Wang; Miguel A. Otaduy

doi:10.1109/WHC56415.2023.10224470

Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove

Qianqian Tong
, Weipeng Shen
, Dangxiao Wang
, Miguel A. Otaduy

School of Mechanical Engineering and Automation

Peng Cheng Laboratory
Universidad Rey Juan Carlos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Novel haptic gloves open the door to haptic simulation of virtual interactions directly with our hands. However, rendering of dynamic hand interactions poses many challenges, due to the many degrees of freedom of hand simulations, and the undersensed and underactuated nature of haptic gloves. In this work, we propose a haptic rendering method of dynamic hand interaction for an impedance-controlled undersensed and underactuated haptic glove, following an optimization strategy. In addition, to improve rendering transparency, we design a compensation strategy for the lag between hand tracking and hand simulation. We show that our haptic rendering algorithm is effective for dynamic sliding, rolling and grasping of virtual objects using a Dexmo glove, and we demonstrate its superiority over previous work.

Original language	English
Title of host publication	2023 IEEE World Haptics Conference, WHC 2023 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	259-265
Number of pages	7
ISBN (Electronic)	9798350399936
DOIs	https://doi.org/10.1109/WHC56415.2023.10224470
State	Published - 2023
Event	10th IEEE World Haptics Conference, WHC 2023 - Delft, Netherlands Duration: 10 Jul 2023 → 13 Jul 2023

Publication series

Name	2023 IEEE World Haptics Conference, WHC 2023 - Proceedings

Conference

Conference	10th IEEE World Haptics Conference, WHC 2023
Country/Territory	Netherlands
City	Delft
Period	10/07/23 → 13/07/23

Keywords

hand interaction
haptic rendering
impedance-controlled glove
undersensing and underactuation

Access to Document

10.1109/WHC56415.2023.10224470

Cite this

Tong, Q., Shen, W., Wang, D., & Otaduy, M. A. (2023). Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove. In 2023 IEEE World Haptics Conference, WHC 2023 - Proceedings (pp. 259-265). (2023 IEEE World Haptics Conference, WHC 2023 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WHC56415.2023.10224470

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title = "Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove",

abstract = "Novel haptic gloves open the door to haptic simulation of virtual interactions directly with our hands. However, rendering of dynamic hand interactions poses many challenges, due to the many degrees of freedom of hand simulations, and the undersensed and underactuated nature of haptic gloves. In this work, we propose a haptic rendering method of dynamic hand interaction for an impedance-controlled undersensed and underactuated haptic glove, following an optimization strategy. In addition, to improve rendering transparency, we design a compensation strategy for the lag between hand tracking and hand simulation. We show that our haptic rendering algorithm is effective for dynamic sliding, rolling and grasping of virtual objects using a Dexmo glove, and we demonstrate its superiority over previous work.",

keywords = "hand interaction, haptic rendering, impedance-controlled glove, undersensing and underactuation",

author = "Qianqian Tong and Weipeng Shen and Dangxiao Wang and Otaduy, \{Miguel A.\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 10th IEEE World Haptics Conference, WHC 2023 ; Conference date: 10-07-2023 Through 13-07-2023",

year = "2023",

doi = "10.1109/WHC56415.2023.10224470",

language = "英语",

series = "2023 IEEE World Haptics Conference, WHC 2023 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "259--265",

booktitle = "2023 IEEE World Haptics Conference, WHC 2023 - Proceedings",

address = "美国",

}

Tong, Q, Shen, W, Wang, D & Otaduy, MA 2023, Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove. in 2023 IEEE World Haptics Conference, WHC 2023 - Proceedings. 2023 IEEE World Haptics Conference, WHC 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 259-265, 10th IEEE World Haptics Conference, WHC 2023, Delft, Netherlands, 10/07/23. https://doi.org/10.1109/WHC56415.2023.10224470

Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove. / Tong, Qianqian; Shen, Weipeng; Wang, Dangxiao et al.
2023 IEEE World Haptics Conference, WHC 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. p. 259-265 (2023 IEEE World Haptics Conference, WHC 2023 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove

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PY - 2023

Y1 - 2023

N2 - Novel haptic gloves open the door to haptic simulation of virtual interactions directly with our hands. However, rendering of dynamic hand interactions poses many challenges, due to the many degrees of freedom of hand simulations, and the undersensed and underactuated nature of haptic gloves. In this work, we propose a haptic rendering method of dynamic hand interaction for an impedance-controlled undersensed and underactuated haptic glove, following an optimization strategy. In addition, to improve rendering transparency, we design a compensation strategy for the lag between hand tracking and hand simulation. We show that our haptic rendering algorithm is effective for dynamic sliding, rolling and grasping of virtual objects using a Dexmo glove, and we demonstrate its superiority over previous work.

AB - Novel haptic gloves open the door to haptic simulation of virtual interactions directly with our hands. However, rendering of dynamic hand interactions poses many challenges, due to the many degrees of freedom of hand simulations, and the undersensed and underactuated nature of haptic gloves. In this work, we propose a haptic rendering method of dynamic hand interaction for an impedance-controlled undersensed and underactuated haptic glove, following an optimization strategy. In addition, to improve rendering transparency, we design a compensation strategy for the lag between hand tracking and hand simulation. We show that our haptic rendering algorithm is effective for dynamic sliding, rolling and grasping of virtual objects using a Dexmo glove, and we demonstrate its superiority over previous work.

KW - hand interaction

KW - haptic rendering

KW - impedance-controlled glove

KW - undersensing and underactuation

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DO - 10.1109/WHC56415.2023.10224470

M3 - 会议稿件

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T3 - 2023 IEEE World Haptics Conference, WHC 2023 - Proceedings

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BT - 2023 IEEE World Haptics Conference, WHC 2023 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove

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