Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand
Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam,...
| Main Authors: | , , , , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-03-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.716598/full |
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| author | Neal Y. Lii Aaron Pereira Julian Dietl Georg Stillfried Annika Schmidt Annika Schmidt Hadi Beik-Mohammadi Thomas Baker Annika Maier Benedikt Pleintinger Zhaopeng Chen Amal Elawad Lauren Mentzer Austin Pineault Philipp Reisich Alin Albu-Schäffer |
| author_facet | Neal Y. Lii Aaron Pereira Julian Dietl Georg Stillfried Annika Schmidt Annika Schmidt Hadi Beik-Mohammadi Thomas Baker Annika Maier Benedikt Pleintinger Zhaopeng Chen Amal Elawad Lauren Mentzer Austin Pineault Philipp Reisich Alin Albu-Schäffer |
| author_sort | Neal Y. Lii |
| collection | DOAJ |
| description | Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments. |
| first_indexed | 2024-12-19T21:51:03Z |
| format | Article |
| id | doaj.art-7193cb6b61c54ac39670f1a2aeb39b61 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-19T21:51:03Z |
| publishDate | 2022-03-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-7193cb6b61c54ac39670f1a2aeb39b612022-12-21T20:04:23ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-03-01810.3389/frobt.2021.716598716598Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole HandNeal Y. Lii0Aaron Pereira1Julian Dietl2Georg Stillfried3Annika Schmidt4Annika Schmidt5Hadi Beik-Mohammadi6Thomas Baker7Annika Maier8Benedikt Pleintinger9Zhaopeng Chen10Amal Elawad11Lauren Mentzer 12Austin Pineault13Philipp Reisich14Alin Albu-Schäffer15Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyFaculty of Mechanical Engineering, Munich University of Applied Science, Munich, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyFaculty of Informatics, Technical University of Munich, Munich, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyDepartment of Informatics, Faculty of Mathematics, Informatics and Natural Science, University of Hamburg, Hamburg, GermanyDepartment of Electrical Engineering, Chalmers University of Technology, Göteborg, SwedenDepartment of Computer Science and Electrical Engineering, Stanford University, Stanford, CA, United StatesDepartment of Computer Science and Electrical Engineering, Stanford University, Stanford, CA, United StatesInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyApplications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.https://www.frontiersin.org/articles/10.3389/frobt.2021.716598/fullhaptic user interfacehand exoskeletonshuman–machine interface (HMI)human–robot interface (HRI)teleoperation |
| spellingShingle | Neal Y. Lii Aaron Pereira Julian Dietl Georg Stillfried Annika Schmidt Annika Schmidt Hadi Beik-Mohammadi Thomas Baker Annika Maier Benedikt Pleintinger Zhaopeng Chen Amal Elawad Lauren Mentzer Austin Pineault Philipp Reisich Alin Albu-Schäffer Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand Frontiers in Robotics and AI haptic user interface hand exoskeletons human–machine interface (HMI) human–robot interface (HRI) teleoperation |
| title | Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand |
| title_full | Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand |
| title_fullStr | Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand |
| title_full_unstemmed | Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand |
| title_short | Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand |
| title_sort | exodex adam a reconfigurable dexterous haptic user interface for the whole hand |
| topic | haptic user interface hand exoskeletons human–machine interface (HMI) human–robot interface (HRI) teleoperation |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.716598/full |
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