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Erschienen in:
2018 | OriginalPaper | Buchkapitel
Development of an End Effector Capable of Intuitive Grasp Operation for SPIDAR-W
verfasst von : Kanata Nozawa, Ryuki Tsukikawa, Takehiko Yamaguchi, Makoto Sato, Tetsuya Harada
Erschienen in: Human Interface and the Management of Information. Interaction, Visualization, and Analytics
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Abstract
This paper proposes a new grasp operation end effector for the wearable 6 DoF haptic device SPIDAR-W. With the new end effector, users can intuitively perform grasp operations in a virtual environment. Traditional end effectors with a button type interface, are only able to be held by hand and a button must be pushed to lift a virtual object. With the new end effector, the hand can be opened and closed naturally as well as lifting a virtual object, grasping it with significant force. The experiment was made with a pressure sensor monitoring the gripping force and a Velcro belt fixing the end effector to the hand. Performance measurements were made using the new end effector. As a result, users were able to perform grasp operations to some extent arbitrarily. However, there were some unintended operational errors as well as points of improvement that were noted.