Design of robot end-effector to be used in studying actuator-performance for vibrotactile perception in a telemanipulation setup

First published in
Lecture notes in computer science  
Number in series
13235 LNCS
Start Page
507
End Page
510
Citation
Lecture Notes in Computer Science 13235 LNCS: 507-510 (2022)
Contribution to Conference
13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022  
Publisher DOI
10.1007/978-3-031-06249-0
Publisher
Springer International Publishing AG
Peer Reviewed
true
This paper presents an overview of a work-in-progress project, where an initial case study is done to study the performance of different vibrotactile actuators. The case study was performed on six participants. Contact forces on different samples were recorded and the participants were asked to judge the change of roughness in the sample using three different actuators. A telemanipulation setup is used to increase the accuracy of recording the contact forces. Two end-effectors were designed based on measured human stiffness in x,y, and z.
DDC Class
004: Informatik
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
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