IEEE Trans Haptics. 2023 Oct-Dec;16(4):594-601. doi: 10.1109/TOH.2023.3274388. Epub 2023 Dec 21.
In this paper, we present a mechanical hand-tracking system with tactile feedback designed for fine manipulation in teleoperation scenarios. Alternative tracking methods based on artificial vision and data gloves have become an asset for virtual reality interaction. Yet, occlusions, lack of precision, and the absence of effective haptic feedback beyond vibrotactile still appear as a limit for teleoperation applications. In this work, we propose a methodology to design a linkage mechanism for hand pose tracking purposes, preserving complete finger mobility. Presentation of the method is followed by design and implementation of a working prototype, and by evaluation of the tracking accuracy using optical markers. Moreover, a teleoperation experiment involving a dexterous robotic arm and hand was proposed to ten participants. It investigated the effectiveness and repeatability of the hand tracking with combined haptic feedback during a proposed pick and place manipulation tasks.
在本文中，我们提出了一种具有触觉反馈的机械手跟踪系统，旨在用于遥操作场景中的精细操作。基于人工视觉和数据手套的替代跟踪方法已经成为虚拟现实交互的一项资产。然而，遮挡、精度不足以及缺乏有效的触觉反馈（超出振动触觉）仍然是遥操作应用的限制。在这项工作中，我们提出了一种用于设计用于手姿势跟踪目的的连杆机构的方法，同时保持完整的手指灵活性。首先介绍了该方法，然后设计并实现了一个工作原型，并使用光学标记评估了跟踪精度。此外，还向十位参与者提出了一项涉及灵巧机械臂和手的遥操作实验。它调查了在提出的拾取和放置操作任务期间使用组合触觉反馈进行手跟踪的有效性和可重复性。
