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Updated: Nov 16, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Grip Force Control During Virtual Interaction With Deformable and Rigid Objects Via a Haptic Gripper.

Amit Milstein, Lital Alyagon, Ilana Nisky

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    Summary
    This summary is machine-generated.

    Grip force control in virtual environments is key for teleoperation. Researchers found that haptic feedback and control signals, not visuals, significantly influence grip force modulation when manipulating virtual objects.

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    Area of Science:

    • Robotics and Human-Computer Interaction
    • Haptic Feedback Systems
    • Virtual Environment Interaction

    Background:

    • Grip force control research predominantly focuses on rigid objects.
    • Virtual and teleoperation applications frequently involve manipulating elastic objects via haptic interfaces.
    • Understanding grip force modulation for both rigid and deformable objects is essential for designing effective haptic controllers.

    Purpose of the Study:

    • To investigate grip force control strategies in virtual environments using a haptic gripper.
    • To determine the influence of control signals, haptic properties, and visual object properties on grip force modulation.

    Main Methods:

    • A virtual teleoperation setup with a haptic gripper interface was employed.
    • Ten participants performed lifting and cyclic motion tasks with virtual objects.
    • Experimental conditions varied the control signal, haptic gripper properties, and visual object characteristics.

    Main Results:

    • Participants consistently modulated grip force based on anticipated load force across all conditions.
    • Grip force modulation was significantly affected by the control signal and haptic gripper properties.
    • Visual properties of the virtual objects did not influence grip force modulation.

    Conclusions:

    • Grip force control in virtual settings is primarily influenced by tactile and kinesthetic feedback, not visual cues.
    • The findings provide crucial design guidelines for developing haptic grippers for natural grasping in virtual and teleoperation systems.
    • Optimizing control signals and haptic properties is critical for enhancing user experience and performance in virtual manipulation tasks.