Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand
Artikel i vetenskaplig tidskrift, 2022

Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.

teleoperation

human–robot interface (HRI)

haptic user interface

human–machine interface (HMI)

hand exoskeletons

Författare

Neal Y. Lii

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Aaron Pereira

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Julian Dietl

Hochschule für angewandte Wissenschaften München

Georg Stillfried

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Annika Schmidt

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Technische Universität München

Hadi Beik-Mohammadi

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Thomas Baker

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Annika Maier

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Benedikt Pleintinger

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Zhaopeng Chen

Universität Hamburg

Amal Elawad

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Lauren Mentzer

Stanford University

Austin Pineault

Stanford University

Philipp Reisich

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Alin Albu-Schäffer

Deutsches Zentrums für Luft- und Raumfahrt (DLR)

Frontiers Robotics AI

22969144 (eISSN)

Vol. 8 716598

Ämneskategorier

Interaktionsteknik

Människa-datorinteraktion (interaktionsdesign)

Robotteknik och automation

DOI

10.3389/frobt.2021.716598

PubMed

35309724

Mer information

Senast uppdaterat

2022-04-13