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The International Journal of Robotics Research, Vol. 24, No. 9, 717-729 (2005)
DOI: 10.1177/0278364905057123

Designing an Encountered-type Haptic Display for Multiple Fingertip Contacts Based on the Observation of Human Grasping Behaviors

Yasuyoshi Yokokohji

Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan, yokokoji{at}mech.kyoto-u.ac.jp

Nobuhiko Muramori

Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan

Yuji Sato

Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan

Tsuneo Yoshikawa

Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan

Unlike conventional haptic devices, an encountered-type device is not held by a user all the time. Instead, the device remains at the location of a virtual object and waits for the user to encounter it. In this paper, we extend this concept to fingertip contacts and design an encountered-type haptic display for multiple fingertip contacts to simulate tasks of grasping an object with any shape and size. Before designing the device, we intensively observed human grasping behaviors. This observation was very helpful to determine the mechanism of the device. An encountered-type device for three-fingered grasping was actually prototyped based on our design.

Key Words: haptic interface • grasping encountered-type • fingertip contact • observation of human motion


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