Wearability will significantly increase the use of haptics in everyday life, as has already happened for audio and video technologies. The literature on wearable is mainly focused vibrotactile stimulation, only recently, devices conveying richer stimuli, like force vectors, have been proposed. This paper introduces design guidelines presents a novel 3-DoF haptic interface able to apply vectors directly fingertip. It consists two platforms: static one, placed back finger, mobile responsible...

Cutaneous haptic feedback can be used to enhance the performance of robotic teleoperation systems while guaranteeing their safety. Delivering ungrounded cutaneous cues human operator conveys in fact information about forces exerted at slave side and does not affect stability control loop. In this work we analyze feasibility, effectiveness, implications providing solely teleoperation. We carried out two peg-in-hole experiments, both a virtual environment real (teleoperated) environment. Two...

This article presents an open-source MATLAB toolbox for the motion control of KUKA robot manipulators. The Control Toolbox (KCT) is a collection functions developed at Univer sity Siena. toolbox, which compatible with all 6 degrees freedom (DoF) small and low-payload robots that use Eth.RSIXML, runs on remote computer connected controller via transmission Protocol/Internet Protocol (TCP/IP). KCT includes more than 40 functions, spanning operations such as forward inverse kine matics...

Although Augmented Reality (AR) has been around for almost five decades, only recently we have witnessed AR systems and applications entering in our everyday life. Representative examples of this technological revolution are the smartphone games "Pokémon GO" "Ingress" or Google Translate real-time sign interpretation app. Even if already quite compelling widespread, users still not able to physically interact with computer-generated reality. In respect, wearable haptics can provide illusion...

Wearable technologies are gaining great popularity in the recent years. The demand for devices that lightweight and compact challenges researchers to pursue innovative solutions make existing more portable wearable. In this paper we present a novel wearable cutaneous fingertip device with 3 degrees of freedom. It is composed two parallel platforms: upper body fixed on back finger, housing three small servo motors, mobile end-effector contact volar surface fingertip. platforms connected by...

We present a novel three Revolute-Revolute-Spherical (3RRS) wearable fingertip device for the rendering of stiffness information. It is composed static upper body and mobile end-effector. The located on nail side finger, supporting small servo motors, end-effector in contact with finger pulp. two parts are connected by articulated legs, actuated motors. can move toward user's rotate it to simulate contacts arbitrarily-oriented surfaces. Moreover, vibrotactile motor placed below conveys...

We present a wearable skin stretch device for the forearm. It is composed of four cylindrical end effectors, evenly distributed around user's They can generate independent stimuli at palmar, dorsal, ulnar, and radial sides arm. When effectors rotate in same direction, provides cutaneous about desired pronation/supination On other hand, when two opposite different directions, translation To evaluate effectiveness our providing navigation information, we carried out experiments haptic...

In this paper, we present a novel modular wearable interface for haptic interaction and robotic teleoperation. It is composed of 3-degree-of-freedom (3-DoF) fingertip cutaneous device 1-DoF finger kinesthetic exoskeleton, which can be either used together as single or separately two different devices. The 3-DoF static body mobile platform. platform capable making breaking contact with the pulp reangle to replicate contacts arbitrarily oriented surfaces. exoskeleton provides force proximal...

This paper describes a wearable haptic display with small dimensions and low weight, that allows to simulate on the fingertip wide range of contact forces. The device consists two platforms: static one, fixed back side finger, which supports three actuators mechanical instrumented system, mobile interacts directly fingertip. platforms are connected by cables whose lengths strains regulated motors. Three force sensors, placed platform, measure actual forces applied finger. work summarizes...

This paper presents a novel cutaneous device capable of providing independent skin stretches at the palmar, dorsal, ulnar, and radial sides arm. It consists lightweight bracelet with four servo motors. Each motor actuates cylindrical shaped end-effector that is able to rotate, generating stretch stimuli. To understand how control wear on forearm evoke most effective sensations, we carried out perceptual experiments evaluating its absolute differential thresholds. Finally, an experiment...

Abstract Immersive virtual reality (IVR) offers novel and promising ways of continuously adapting training content difficulty to the individual trainee, thus paving way for an improved fit between trainee needs. The objective present study was investigate efficiency utilising self-efficacy performance measures adapt trainee. Using a preregistered, between-subjects experiment, 130 participants were randomly assigned receive that either based on behavioural at beginning (fixed training) or...

Augmented reality (AR) enriches our physical world with digital content and media, such as three-dimensional models videos, overlaying in real time the camera view of smartphone, tablet, laptop, or glasses. Despite recent massive interest for this technology, it is still not possible to receive rich haptic feedback when interacting augmented environments. This lack mainly due poor diffusion suitable interfaces, which should be easy wear, lightweight, compact, inexpensive. In letter, we...

Virtual immersive training (VIT) systems based on gamification of tasks are increasingly employed to train assembly workers. In this article, we present a study that compares the effectiveness virtual and physical for teaching bimanual task in novel approach, introduce complexity (T$_{\mathrm{CXB}}$ CXB ) as an indicator errors during final assembly. between-subjects experiment, 100 participants were trained assemble 3-D cube one four conditions (physical, with trainer's verbal assistance or...

This paper introduces a tactile rendering algorithm for wearable cutaneous devices that stimulate the skin through local contact surface modulation. The first step in simulates between model and virtual objects, computes to be rendered. accuracy of this is maximized by simulating soft with its characteristic nonlinear behavior. second takes desired as input, device configuration solving an optimization problem, i.e., minimizing deviation environment rendered device. method implemented on thimble-like

Novel wearable tactile interfaces offer the possibility to simulate interactions with virtual environments directly on our skin. But, unlike kinesthetic interfaces, for which haptic rendering is a well explored problem, they pose new questions about formulation of problem. In this work, we propose as an optimization general large family interfaces. Based accurate simulation contact between finger model and environment, device configuration, such that surface actual matches close possible in...

This paper presents some preliminary results on RemoTouch, a system allowing to perform experiences of remote touch. The consists an avatar equipped with instrumented glove and user wearing tactile displays feel the interaction. main features RemoTouch are that it is wearable human used collect interaction data. New paradigms communication can be designed around system. Two simple reported show potential proposed touch architecture.

The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control KUKA robot manipulators, developed to offer an intuitive and high-level programming interface the user. toolbox, which compatible with all 6 DOF small low payload robots that use Eth.RSIXML, runs on remote computer connected controller via TCP/IP. KCT includes more than 30 functions, spanning operations such as forward inverse kinematics computation, point-to-point joint Cartesian control, trajectory...

In this paper we explore a vibrotactile feedback paradigm which allows the human to intuitively interact in human-robot applications. particular focus on haptic bracelet helps move along trajectories that are feasible for leader-follower formation tasks. The consists of three vibrating motors circling forearm and represents non invasive way provide essential information human. Experiments performed public 15 subjects revealed effectiveness proposed device.

One of the new targets wearable robots is not to enhance lift strength far above human capability by wearing a bulky robot, but support within its range lightweight and compact robots. A approach regarding robotic extra-fingers presented here. In particular, an object-based mapping algorithm proposed control interpreting whole or part hand motion in grasping manipulation tasks. As case study, model additional finger presented. The has been placed on wrist opposite palm. This solution...