Haptic Feedback to the Palm and Fingers for Improved Tactile Perception of Large Objects
summary
Prototype combines fingertip kinesthetic actuation (servo-driven fingertip channels with a VIVE Tracker and DAQ) and four palm tactile modules that press bumps into the skin; inverse kinematics, collision detection and a spring contact model render continuous feedback. A 10 cm spherical reference and comparison radii (2.5–15 cm) are tested with 12 participants; measured Weber fraction is significantly lower with fingertip+palmar cutaneous feedback, so size discrimination improves, although trial times increase.
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chapters (6)
- 0:00Introduction and motivation
- 2:18Haptic system design
- 8:01Experiment and results
- 12:20Conclusion and future work
- 14:06Q&A session part 1
- 15:53Q&A session part 2
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