Interoperable haptic interfaces for tactile and force feedback integration in VR

Sarakoglou, L

Abstract

Virtual Reality has traditionally taken the form of audio-visual simulations. The desire for
more realistic interactions gradually led to pursue the inclusion of touch as an additional
feedback modality.
Simulation of touch through haptics should ideally integrate both kinaesthetic and tactile
feedback. Currently kinaesthetic feedback is applied mainly through force feedback joysticks
and to a lesser extent through hand exoskeletons. Hand exoskeletons are desirable for whole-
hand interaction but require further development before they can become more widely
applicable. Tactile feedback on the other hand is still in its infancy. None of the past efforts
has managed to satisfy the stringent performance and design requirements and to present an
interoperable and generic tactile display suitable for integration in VR haptic systems.
This thesis presents the development of two haptic interfaces designed for tactile-
kinaesthetic feedback integration; an interoperable tactile display for the fingertip and an
ergonomic exoskeleton for the hand.
The tactile display is a compact and lightweight interface for high fidelity tactile feedback.
Its operation is based on a 4x4 array of vertically moving tactors for the display of surface
shape to an area of the fingertip. The tactors are spring loaded and are actuated remotely by
dc motors through a very flexible tendon transmission. This design allows 6DOF tactile
exploration in an excellent work envelope. The compact design, high performance,
reliability, and straightforward connectivity make this tactile display truly interoperable and
suitable for direct integration in any VR haptic system.
The exoskeleton is a 7DOF force feedback interface. It is mounted on the dorsal side of
the right hand and provides feedback to the thumb, index, middle and ring fingers. It is
actuated remotely by DC motors through a tendon transmission. It is adjustable for different
hand sizes and has been designed for comfort, easy fitting and removal. The exoskeleton has
also been integrated with novel low cost vibrotactile displays for simulation of contact at the
fingertips.
The developed interfaces have been designed with a scope for performance practicality
reliability and interoperability which are reflected in the outcomes of this thesis.

Citation

Sarakoglou, L. Interoperable haptic interfaces for tactile and force feedback integration in VR. (Thesis). Salford : University of Salford

• Thesis Type: Thesis
• Deposit Date: Oct 3, 2012
• Award Date: Jan 1, 2010