Optimized Haptic Feedback and Natural Prehension System for Robotics and Virtual Reality Applications

Area of Science:

• Robotics
• Haptic Technology
• Virtual Reality

Background:

• Increasing demand for high-fidelity haptic interaction in evolving robotics and virtual reality applications.
• High cost of commercial haptic interfaces limits adoption; low-cost alternatives often lack transparency.
• Need for accessible, efficient haptic feedback devices for remote manipulation.

Purpose of the Study:

• To design and develop an innovative, cost-effective master-slave robotic system for democratizing efficient haptic feedback.
• To enable remote manipulation of objects up to 1 kg with a gripping force limit of 50 N.
• To improve user immersion and handling precision in robotic applications.

Main Methods:

• Developed a master haptic module (clamp) mimicking human gripping motion.
• Implemented a custom haptic interface for real-time angular position transmission to the slave gripper.
• Integrated a force sensor in the slave gripper to detect objects and trigger resistive feedback.
• Designed a three-fingered slave gripper with three phalanges per finger for anatomical conformance.
• Utilized a current sensor in the master module for haptic feedback, replacing expensive force-torque sensors.

Main Results:

• The system successfully enables remote manipulation of objects up to 1 kg with controlled gripping force.
• The master module effectively reproduces human gripping motion, and the slave gripper conforms to irregular geometries.
• The use of current sensors provides responsive haptic feedback, enhancing the control loop.
• Achieved a cost-effective solution without compromising feedback responsiveness or transparency.

Conclusions:

• The developed master-slave robotic system offers an innovative and affordable solution for high-fidelity haptic interaction.
• Democratizes efficient haptic feedback devices for broader applications in robotics and virtual reality.
• Demonstrates the effectiveness of current sensors for responsive haptic feedback in cost-sensitive systems.