Whole-Hand Kinesthetic Feedback and Haptic Perception in Dextrous Virtual Manipulation

Tzafestas, CS

dc.contributor.author	Tzafestas, CS	en
dc.date.accessioned	2014-03-01T01:19:42Z
dc.date.available	2014-03-01T01:19:42Z
dc.date.issued	2003	en
dc.identifier.issn	1083-4427	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15670
dc.subject	Dextrous virtual manipulation	en
dc.subject	Exoskeleton glove	en
dc.subject	Grasping force distribution	en
dc.subject	Haptic perception	en
dc.subject	Kinesthetic feedback	en
dc.subject	Psychophysics	en
dc.subject	Virtual reality	en
dc.subject.classification	Computer Science, Cybernetics	en
dc.subject.classification	Computer Science, Theory & Methods	en
dc.subject.other	Computational methods	en
dc.subject.other	Computer simulation	en
dc.subject.other	Psychophysiology	en
dc.subject.other	Haptic perception	en
dc.subject.other	Virtual reality	en
dc.title	Whole-Hand Kinesthetic Feedback and Haptic Perception in Dextrous Virtual Manipulation	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TSMCA.2003.812600	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TSMCA.2003.812600	en
heal.language	English	en
heal.publicationDate	2003	en
heal.abstract	One of the key requirements for a Virtual Reality system is the multimodal, real-time interaction between the human operator and a computer simulated and animated environment. This paper investigates problems related particularly to the haptic interaction between the human operator and a virtual environment. The work presented here focuses on two issues: 1) the synthesis of whole-hand kinesthetic feedback, based on the application of forces (torques) on individual phalanges (joints) of the human hand, and 2) the experimental evaluation of this haptic feedback system, in terms of human haptic perception of virtual physical properties (such as the weight. of a virtual manipulated object), using psychophysical methods. The proposed kinesthetic feedback methodology is based on the solution of a generalized force distribution problem for the human hand during virtual manipulation tasks. The solution is computationally efficient and has been experimentally implemented using an exoskeleton force-feedback glove. A series of experiments is reported concerning the perception of weight of manipulated virtual objects and the obtained results demonstrate the feasibility of the concept. Issues related to the use of sensory substitution techniques for the application of haptic feedback on the human hand are also discussed.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.	en
dc.identifier.doi	10.1109/TSMCA.2003.812600	en
dc.identifier.isi	ISI:000183600800009	en
dc.identifier.volume	33	en
dc.identifier.issue	1	en
dc.identifier.spage	100	en
dc.identifier.epage	113	en