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  4. DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake
 
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conference paper

DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake

Hinchet, Ronan  
•
Vechev, Velko
•
Shea, Herbert  
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January 1, 2018
Uist 2018: Proceedings Of The 31St Annual Acm Symposium On User Interface Software And Technology
31st Annual ACM Symposium on User Interface Software and Technology (UIST)

We introduce DextrES, a flexible and wearable haptic glove which integrates both kinesthetic and cutaneous feedback in a thin and light form factor (weight is less than 8g). Our approach is based on an electrostatic clutch generating up to 20 N of holding force on each finger by modulating the electrostatic attraction between flexible elastic metal strips to generate an electrically-controlled friction force. We harness the resulting braking force to rapidly render on-demand kinesthetic feedback. The electrostatic brake is mounted onto the the index finger and thumb via modular 3D printed articulated guides which allow the metal strips to glide smoothly. Cutaneous feedback is provided via piezo actuators at the fingertips. We demonstrate that our approach can provide rich haptic feedback under dexterous articulation of the user's hands and provides effective haptic feedback across a variety of different grasps. A controlled experiment indicates that DextrES improves the grasping precision for different types of virtual objects. Finally, we report on results of a psychophysical study which identifies discrimination thresholds for different levels of holding force.

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Type
conference paper
DOI
10.1145/3242587.3242657
Web of Science ID

WOS:000494260500074

Author(s)
Hinchet, Ronan  
•
Vechev, Velko
•
Shea, Herbert  
•
Hilliges, Otmar
Date Issued

2018-01-01

Publisher

ASSOC COMPUTING MACHINERY

Publisher place

New York

Journal
Uist 2018: Proceedings Of The 31St Annual Acm Symposium On User Interface Software And Technology
ISBN of the book

978-1-4503-5948-1

Start page

901

End page

912

Subjects

haptics

•

vr

•

electrostatic brake

•

dexterous interaction

•

design

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LMTS  
Event nameEvent placeEvent date
31st Annual ACM Symposium on User Interface Software and Technology (UIST)

Berlin, GERMANY

Oct 14-17, 2018

Available on Infoscience
November 28, 2019
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/163432
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