Development of a haptic device for implementing dynamic feedback of virtual handshakes
Goal of This Project
- Build a diverse dataset of handshake motions using integrated sensor data.- Design and develop an upper
- limb exoskeleton robot for delivering dynamic force feedback.
- Develop communication and power supply systems for implementing various handshake motions.
- Create a trajectory generation and impedance control algorithm for user-specific handshake motion.
- Construct an exoskeleton robot system in a virtual environment and develop associated communication technologies.
Importance of the Research
- Current haptic devices are primarily limited to hand-based applications.Expanding technology to other body parts is essential to enhance immersion and provide diverse user experiences.
- Haptic devices often provide limited force feedback, restricting their application. Integrating stronger force output in wearable robots is critical.
- Existing wearable robots mainly focus on rehabilitation or assistance, lacking high responsiveness necessary for advanced haptic applications. s- Heavy weight in both wearable and haptic devices hampers user convenience. Therefore, developing lightweight wearable robots integrated with haptic functionality is imperative.
Research Content and Scope
1. Development of a General Handshake Motion Dataset Using Integrated Sensor Data
- Classify handshake motion based on trajectory cycles and sizes.
- Analyze joint loads and torques during handshake motions using a human body simulation tool.
2. Design and Development of an Upper-Limb Exoskeleton Robot for Dynamic Force Feedback
- Conceptual design based on analyzed joint loads and actuator selection.
- Detailed design and manufacturing of the upper-limb exoskeleton robot.
3. Development of Communication and Power Supply Systems for Various Handshake Motions
- Establish communication environment and platform considering wearability.
- Develop a power supply system for implementing virtual environments.
4. Development of Impedance Control Algorithm for Trajectory Following in Handshakes
- Implement a trajectory generation algorithm tailored to user-specific handshake angles.
- Use impedance control to generate customized handshake vibration by following the trajectory.
5. Development of Exoskeleton Robot System and Communication Technologies in Virtual Environments
- Build a communication environment between Robot Operating System (ROS) and Unity.
- Enable remote interactions through the implementation of the exoskeleton robot in Unity.
Participating Researchers
Funding
