Saint-Aubert Justine
IEEE Trans Haptics. 2025 Apr-Jun;18(2):362-373. doi: 10.1109/TOH.2025.3548478.
The Snail is a wearable haptic interface that enables users to experience force feedback when grasping objects in Virtual Reality. It consists of a 3D-printed prop attached to the tip of the thumb that can rotate thanks to a small actuator. The prop is shaped like a snail to display different grasping sizes, ranging from $ 1.5,\text{cm}$ to $ 7,\text{cm}$, according to its orientation. The prop displays the force feedback, so forces over $ 100,\text{N}$ can be displayed between fingers using small and low-power actuation. Very rigid objects can be rendered when the prop remains static, but rotations when the users grasp the prop also allow for the simulation of soft objects. The Snail is portable, low-cost, and easy to reproduce because it is made of 3D-printed parts. The design and performance of the device were evaluated through technical evaluations and 3 user experiments. They show that participants can discriminate different grasping sizes and levels of softness with the interface. The Snail also enhances user experience and performances in Virtual Reality compared to standard vibration feedback.
蜗牛是一种可穿戴触觉接口，能让用户在虚拟现实中抓取物体时体验力反馈。它由一个3D打印的道具组成，该道具连接在拇指指尖，借助一个小型致动器可以旋转。道具形状像蜗牛，根据其方向显示不同的抓取尺寸，范围从1.5厘米到7厘米。该道具显示力反馈，因此可以使用小型低功率致动在手指间显示超过100牛的力。当道具保持静止时，可以呈现非常坚硬的物体，但用户抓取道具时的旋转也能模拟柔软物体。蜗牛便于携带、成本低且易于复制，因为它由3D打印部件制成。通过技术评估和3次用户实验对该设备的设计和性能进行了评估。结果表明，参与者能够通过该接口区分不同的抓取尺寸和柔软程度。与标准振动反馈相比，蜗牛还能提升虚拟现实中的用户体验和性能。
