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Exodex Adam - a reconfigurable dexterous haptic user interface for the whole hand

Lii, Neal Yi-Sheng and Pereira, Aaron and Dietl, Julian and Stillfried, Georg and Schmidt, Annika and Pleintinger, Benedikt and Chen, Zhaopeng and Elawad, Amal and Mentzer, Lauren and Pineault, Austin and Reisich, Philipp and Albu-Schäffer, Alin (2022) Exodex Adam - a reconfigurable dexterous haptic user interface for the whole hand. Frontiers in Robotics and AI, 8. Frontiers Media S.A. doi: 10.3389/frobt.2021.716598. ISSN 2296-9144.

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Official URL: https://www.frontiersin.org/articles/10.3389/frobt.2021.716598/

Abstract

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.

Item URL in elib:https://elib.dlr.de/189619/
Document Type:Article
Title:Exodex Adam - a reconfigurable dexterous haptic user interface for the whole hand
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lii, Neal Yi-ShengUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pereira, AaronUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Dietl, JulianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Stillfried, GeorgUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmidt, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0002-4718-4201UNSPECIFIED
Pleintinger, BenediktUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Chen, ZhaopengUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Elawad, AmalUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mentzer, LaurenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pineault, AustinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Reisich, PhilippUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115914
Date:3 March 2022
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:8
DOI:10.3389/frobt.2021.716598
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Muniyandi, ManivannanIndian Institute of Technology Madras, IndiaUNSPECIFIEDUNSPECIFIED
Publisher:Frontiers Media S.A
Series Name:Section Haptics
ISSN:2296-9144
Status:Published
Keywords:haptic user interface, hand exoskeletons, human–machine interface (HMI), human–robot interface (HRI), teleoperation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO], R - Interacting Robot Control [RO], R - Autonomy & Dexterity [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Birkenkampf, Peter
Deposited On:02 Nov 2022 14:54
Last Modified:11 Sep 2023 13:25

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