Object manipulation by hand with force feedback

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Abstract

This paper describes an implantation of object manipulation with force feedback. A force feedback device SPIDAR-U that is capable of providing independent forces to the thumb and four fingers of a hand was developed. The device was designed to reduce the influence on the magnetic field so that it can be combined with the measurement of hand motion using magnetic sensors. Also, in the simulation of interaction force between the hand model and the virtual object, nonlinearity of elasticity, or force-displacement relationship, was introduced by assuming collision between the bone and the object. A prototype system that integrate the device and the simulation was implemented, and feasibility of our approach was proved.

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Fujioka, S., Uchiyama, T., Tagawa, K., Hirota, K., Nojima, T., Akahane, K., & Sato, M. (2018). Object manipulation by hand with force feedback. In Lecture Notes in Electrical Engineering (Vol. 432, pp. 261–266). Springer Verlag. https://doi.org/10.1007/978-981-10-4157-0_45

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