Exodex Adam-A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

Area of Science:

• Robotics
• Human-Computer Interaction
• Virtual Reality

Background:

• Growing applications in dexterous robot teleoperation and immersive virtual reality.
• Need for haptic input devices that allow intuitive command and environmental feedback.
• Existing devices often focus only on fingertip interaction.

Purpose of the Study:

• Introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device.
• Enable deeper immersion and more intuitive control in virtual and remote environments.
• Demonstrate the device's versatility across various teleoperation and VR applications.

Main Methods:

• Designed a modular device with reconfigurable 3-DOF robotic fingers for user hand size optimization.
• Integrated the device onto a 7-DOF robot arm to expand the workspace.
• Utilized a front-facing interface with robotic fingers coupled to fingertips, thumb, and palm for whole-hand tracking without extra sensors.

Main Results:

• Achieved accurate whole-hand tracking without external sensors like data gloves.
• Provided omnidirectional force-feedback for complete hand interaction, enhancing immersion.
• Enabled a range of interactions from palpation to power and precision grasps with haptic feedback.

Conclusions:

• The DLR Exodex Adam offers a novel approach to whole-hand haptic interaction.
• The device significantly enhances immersion and control in teleoperation and virtual reality.
• Successful deployment in mixed-media VR, gesture-based telemanipulation, and robotic hand-arm teleoperation.