Pushing the limits of the CyberGrasp™ for haptic rendering

Manuel Aiple; Andre Schiele

doi:10.1109/ICRA.2013.6631073

Pushing the limits of the CyberGrasp™ for haptic rendering

Manuel Aiple, Andre Schiele

Biomechatronics & Human-Machine Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

44 Citations (Scopus)

Abstract

The CyberGrasp™ is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation.

Original language	English
Title of host publication	Proceedings 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Editors	R. Dillmann, M. Vince
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	3541-3546
ISBN (Print)	978-1-4673-5640-1
DOIs	https://doi.org/10.1109/ICRA.2013.6631073
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

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10.1109/ICRA.2013.6631073

Cite this

@inproceedings{68540e30575849eda8c0c5ce974a052c,

title = "Pushing the limits of the CyberGrasp{\texttrademark} for haptic rendering",

abstract = "The CyberGrasp{\texttrademark} is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation.",

author = "Manuel Aiple and Andre Schiele",

year = "2013",

doi = "10.1109/ICRA.2013.6631073",

language = "English",

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editor = "R. Dillmann and M. Vince",

booktitle = "Proceedings 2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

publisher = "IEEE",

address = "United States",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

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Aiple, M & Schiele, A 2013, Pushing the limits of the CyberGrasp™ for haptic rendering. in R Dillmann & M Vince (eds), Proceedings 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631073, IEEE, Piscataway, NJ, USA, pp. 3541-3546, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6631073

Pushing the limits of the CyberGrasp™ for haptic rendering. / Aiple, Manuel; Schiele, Andre.
Proceedings 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. ed. / R. Dillmann; M. Vince. Piscataway, NJ, USA: IEEE, 2013. p. 3541-3546 6631073.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - The CyberGrasp™ is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation.

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Pushing the limits of the CyberGrasp™ for haptic rendering

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