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Communication Dans Un Congrès Année : 2023

Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectors

Résumé

This paper presents the Haptic Mushroom, a grounded encounter-type haptic device with interchangeable endeffectors. It is composed of a three-leg parallel self-constrained mechanism connecting a lower static platform to an upper moving platform. The upper platform moves over the surface of a sphere centered on the lower one. The legs are attached to the moving platform through three joints, which are in turn driven through a spiral cam, finally actuating the chosen end-effector. As a representative example, we consider a soft end-effector, able to change its curvature, and a rigid origami-inspired end-effector, able to change its shape from flat to sharp. However, the device is designed to support a wide range of end-effectors. The paper describes the device and presents the kinematic characterisation of the two end-effectors. We carry out a perceptual experiment, enrolling 12 participants, evaluating the capability of the soft end-effector to render curvatures. Finally, we present a use case where the device is used as an encounter-type haptic interface during interactions with virtual objects.
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Dates et versions

hal-04110135 , version 1 (30-05-2023)
hal-04110135 , version 2 (26-06-2023)

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Lisheng Kuang, Francesco Chinello, Paolo Robuffo Giordano, Maud Marchal, Claudio Pacchierotti. Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectors. WHC 2023 - IEEE World Haptics Conference, IEEE, Jul 2023, Delft, Netherlands. ⟨10.1109/WHC56415.2023.10224373⟩. ⟨hal-04110135v2⟩
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