Abstract

Autogrip is a new thimble that enables force feedback devices to autonomously attach themselves to a finger. Although self-attachment is a simple concept, it has never been explored in the space of force feedback devices where current thimble solutions require complex attachment procedures and often swapping between interchangeable parts. Self-attachment is advantageous in many applications such as: immersive spaces, multi-user, walk up and use contexts, and especially multi-point force feedback systems as it can allow a lone user to quickly attach multiple devices to fingers on both hands - a difficult task with current thimbles. We present the design of our open-source contraption, Autogrip, a one-size-fits-all thimble that retro-fits to existing force feedback devices, enabling them to automatically attach themselves to a fingertip. We demonstrate Autogrip by retrofitting it to a Phantom 1.5 and a 4-finger Mantis system. We report preliminary user-testing results that indicated Autogrip was three times faster to attach than a typical method. We also present further refinements based on user feedback.
Supplemental Material
Available for Download
- Gareth Barnaby and Anne Roudaut. 2019. Mantis: A Scalable, Lightweight and Accessible Architecture to Build Multiform Force Feedback Systems. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology. 937--948.Google Scholar
Digital Library
- AL Barrow and William S Harwin. 2008. High bandwidth, large workspace haptic interaction: Flying phantoms. In 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE, 295--302.Google Scholar
Digital Library
- G Cini, Antonio Frisoli, Simone Marcheschi, Fabio Salsedo, and Massimo Bergamasco. 2005. A novel fingertip haptic device for display of local contact geometry. In First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference. IEEE, 602--605.Google Scholar
Digital Library
- Megan E Clarke, Lucy E Dunne, and Brad T Holschuh. 2016. Self-adjusting wearables: variable control through a shape-memory latching mechanism. In Proceedings of the 2016 ACM International Joint Conference on Pervasive and Ubiquitous Computing: Adjunct. 452--457.Google Scholar
Digital Library
- Carolina Cruz-Neira, Daniel J Sandin, Thomas A DeFanti, Robert V Kenyon, and John C Hart. 1992. The CAVE: audio visual experience automatic virtual environment. Commun. ACM, Vol. 35, 6 (1992), 64--73.Google Scholar
Digital Library
- Lionel Dominjon, Anatole Lecuyer, J-M Burkhardt, Guillermo Andrade-Barroso, and Simon Richir. 2005. The" bubble" technique: Interacting with large virtual environments using haptic devices with limited workspace. In First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference. IEEE, 639--640.Google Scholar
Digital Library
- Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri, Yasuhiko Ishigure, Hisayuki Shimomura, Masato Matsumura, and Kazumi Koketsu. 2010. Five-fingered haptic interface robot: HIRO III. IEEE Transactions on Haptics , Vol. 4, 1 (2010), 14--27.Google Scholar
Digital Library
- ForceDimension. 2020. ForceDimension Omega http://www.forcedimension.com/products/omega-6/overview Retrieved April 14. (2020).Google Scholar
- Jonas Forsslund, Michael Yip, and Eva-Lotta Salln"as. 2015. Woodenhaptics: A starting kit for crafting force-reflecting spatial haptic devices. In Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction. 133--140.Google Scholar
Digital Library
- Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, and Antonio Frisoli. 2016. A new wearable fingertip haptic interface for the rendering of virtual shapes and surface features. In 2016 IEEE Haptics Symposium (HAPTICS). IEEE, 140--146.Google Scholar
Cross Ref
- John W Garrett. 1971. The adult human hand: some anthropometric and biomechanical considerations. Human factors, Vol. 13, 2 (1971), 117--131.Google Scholar
- Xiaochi Gu, Yifei Zhang, Weize Sun, Yuanzhe Bian, Dao Zhou, and Per Ola Kristensson. 2016. Dexmo: An inexpensive and lightweight mechanical exoskeleton for motion capture and force feedback in VR. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. 1991--1995.Google Scholar
Digital Library
- Christopher J Hasser and Malcolm W Daniels. 1996. Tactile feedback with adaptive controller for a force-reflecting haptic display. 1. Design. In Proceedings of the 1996 Fifteenth Southern Biomedical Engineering Conference. IEEE, 526--529.Google Scholar
Cross Ref
- Edwin L Hutchins, James D Hollan, and Donald A Norman. 1985. Direct manipulation interfaces. Human-Computer Interaction , Vol. 1, 4 (1985), 311--338.Google Scholar
Digital Library
- Katherine J Kuchenbecker, David Ferguson, Michael Kutzer, Matthew Moses, and Allison M Okamura. 2008. The touch thimble: Providing fingertip contact feedback during point-force haptic interaction. In 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE, 239--246.Google Scholar
Digital Library
- Dale A Lawrence. 1988. Impedance control stability properties in common implementations. In Proceedings. 1988 IEEE International Conference on Robotics and Automation. IEEE, 1185--1190.Google Scholar
Cross Ref
- Mathieu Le Goc, Lawrence H Kim, Ali Parsaei, Jean-Daniel Fekete, Pierre Dragicevic, and Sean Follmer. 2016. Zooids: Building blocks for swarm user interfaces. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology. 97--109.Google Scholar
Digital Library
- Guanyang Liu, Yuru Zhang, Dangxiao Wang, and William T Townsend. 2008. Stable haptic interaction using a damping model to implement a realistic tooth-cutting simulation for dental training. Virtual Reality, Vol. 12, 2 (2008), 99--106.Google Scholar
Digital Library
- Thomas H Massie, J Kenneth Salisbury, et almbox. 1994. The phantom haptic interface: A device for probing virtual objects. In Proceedings of the ASME winter annual meeting, symposium on haptic interfaces for virtual environment and teleoperator systems, Vol. 55. Chicago, IL, 295--300.Google Scholar
- Mary Monroy, Manuel Ferre, Jorge Barrio, Victor Eslava, and Ignacio Galiana. 2009. Sensorized thimble for haptics applications. In 2009 IEEE International Conference on Mechatronics. IEEE, 1--6.Google Scholar
Cross Ref
- Mary Monroy, Mar'ia Oyarzabal, Manuel Ferre, Alexandre Campos, and Jorge Barrio. 2008. Masterfinger: Multi-finger haptic interface for collaborative environments. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications. Springer, 411--419.Google Scholar
Digital Library
- Florian Floyd Mueller, Pedro Lopes, Paul Strohmeier, Wendy Ju, Caitlyn Seim, Martin Weigel, Suranga Nanayakkara, Marianna Obrist, Zhuying Li, Joseph Delfa, et almbox. 2020. Next Steps for Human-Computer Integration. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1--15.Google Scholar
Digital Library
- Gabriel Robles-De-La-Torre. 2006. The importance of the sense of touch in virtual and real environments. Ieee Multimedia, Vol. 13, 3 (2006), 24--30.Google Scholar
Digital Library
- Raafat George Saadé and Camille Alexandre Otrakji. 2007. First impressions last a lifetime: effect of interface type on disorientation and cognitive load. Computers in human behavior , Vol. 23, 1 (2007), 525--535.Google Scholar
- Hasti Seifi, Farimah Fazlollahi, Michael Oppermann, John Andrew Sastrillo, Jessica Ip, Ashutosh Agrawal, Gunhyuk Park, Katherine J Kuchenbecker, and Karon E MacLean. 2019. Haptipedia: Accelerating Haptic Device Discovery to Support Interaction & Engineering Design. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. 1--12.Google Scholar
Digital Library
- Joon-Gi Shin, Eiji Onchi, Maria Jose Reyes, Junbong Song, Uichin Lee, Seung-Hee Lee, and Daniel Saakes. 2019. Slow Robots for Unobtrusive Posture Correction. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. 1--10.Google Scholar
Digital Library
- Alejandro Jarillo Silva, Omar A Dom'inguez Ramirez, Vicente Parra Vega, and Jesus P Ordaz Oliver. 2009. Phantom omni haptic device: Kinematic and manipulability. In 2009 Electronics, Robotics and Automotive Mechanics Conference (CERMA). IEEE, 193--198.Google Scholar
- Massimiliano Solazzi, Antonio Frisoli, and Massimo Bergamasco. 2010. Design of a novel finger haptic interface for contact and orientation display. In 2010 IEEE Haptics Symposium. IEEE, 129--132.Google Scholar
Digital Library
- Richard Q Van der Linde, Piet Lammertse, Erwin Frederiksen, and B Ruiter. 2002. The HapticMaster, a new high-performance haptic interface. In Proc. Eurohaptics. 1--5.Google Scholar
- Bogdan Vigaru, James Sulzer, and Roger Gassert. 2015. Design and evaluation of a cable-driven fMRI-compatible haptic interface to investigate precision grip control. IEEE transactions on haptics , Vol. 9, 1 (2015), 20--32.Google Scholar
Index Terms
Autogrip: Enabling Force Feedback Devices to Self-Attach to End-Users' Fingers
Recommendations
Haptic feedback design for a virtual button along force-displacement curves
UIST '13: Proceedings of the 26th annual ACM symposium on User interface software and technologyIn this paper, we present a haptic feedback method for a virtual button based on the force-displacement curves of a physical button. The original feature of the proposed method is that it provides haptic feedback, not only for the "click" sensation but ...
Adaptation to Force in the Haptic Rendering of Virtual Environments
EuroHaptics '08: Proceedings of the 6th international conference on Haptics: Perception, Devices and ScenariosRealistic haptic rendering is one of the most challenging issues in the field of virtual reality. The intent is for the user to experience the same kinesthetic sensations in the virtual realm as they would in the real world. Therefore, we need to know ...
A Multi Finger Haptic Hand with Force Feedback
ICINCO 2016: Proceedings of the 13th International Conference on Informatics in Control, Automation and RoboticsThis paper presents a proposal for a twelve degrees of freedom robotic hand system controlled via haptic technology with force control and force feedback. This robotic hand can be used in hazardous environment, deserted places, or aerospace. To achieve ...






Comments