A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation
This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness,...
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| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/1/27 |
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| author | Thomas M. Kwok Bohan Zhang Wai Tuck Chow |
| author_facet | Thomas M. Kwok Bohan Zhang Wai Tuck Chow |
| author_sort | Thomas M. Kwok |
| collection | DOAJ |
| description | This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device’s functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device’s use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments. |
| format | Article |
| id | doaj-art-847b8b64973b494d8daf22779afc4278 |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-847b8b64973b494d8daf22779afc42782025-01-24T13:39:11ZengMDPI AGMachines2075-17022025-01-011312710.3390/machines13010027A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral TeleoperationThomas M. Kwok0Bohan Zhang1Wai Tuck Chow2School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, SingaporeSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, SingaporeSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, SingaporeThis paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device’s functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device’s use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments.https://www.mdpi.com/2075-1702/13/1/27haptic deviceshoneycomb jamming mechanismhaptic feedbackstiffness renderingbilateral teleoperation |
| spellingShingle | Thomas M. Kwok Bohan Zhang Wai Tuck Chow A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation Machines haptic devices honeycomb jamming mechanism haptic feedback stiffness rendering bilateral teleoperation |
| title | A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation |
| title_full | A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation |
| title_fullStr | A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation |
| title_full_unstemmed | A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation |
| title_short | A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation |
| title_sort | wearable stiffness rendering haptic device with a honeycomb jamming mechanism for bilateral teleoperation |
| topic | haptic devices honeycomb jamming mechanism haptic feedback stiffness rendering bilateral teleoperation |
| url | https://www.mdpi.com/2075-1702/13/1/27 |
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