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Design of personalized wearable haptic interfaces to account for fingertip size and shape

Abstract : The size and shape of fingertips vary significantly across humans, making it challenging to design wearable fingertip interfaces suitable for everyone. Although deemed important, this issue has often been neglected due to the difficulty of customizing devices for each different user. This paper presents an innovative approach for automatically adapting the hardware design of a wearable haptic interface for a given user. We consider a 3-DoF fingertip cutaneous device, composed of a static body and a mobile platform linked by three articulated legs. The mobile platform is capable of making and breaking contact with the finger pulp and re-angle to replicate contacts with arbitrarily-oriented surfaces. We analyze the performance of this device as a function of its main geometrical dimensions. Then, starting from the user's fingertip characteristics, we define a numerical procedure that best adapts the dimension of the device to (i) maximize the range of renderable haptic stimuli, (ii) avoid unwanted contacts between the device and the skin, (iii) avoid singular configurations, and (iv) minimize the device encumbrance and weight. Together with the mechanical analysis and evaluation of the adapted design, we present a MATLAB script that calculates the device dimensions customized for a target fingertip as well as an online CAD utility for generating a ready-to-print STL file of the personalized design.
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https://hal.inria.fr/hal-03207560
Contributor : Claudio Pacchierotti Connect in order to contact the contributor
Submitted on : Sunday, April 25, 2021 - 6:55:30 PM
Last modification on : Friday, April 8, 2022 - 4:04:03 PM
Long-term archiving on: : Monday, July 26, 2021 - 6:09:36 PM

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Monica Malvezzi, Francesco Chinello, Domenico Prattichizzo, Claudio Pacchierotti. Design of personalized wearable haptic interfaces to account for fingertip size and shape. IEEE Transactions on Haptics (ToH), IEEE, 2021, 14 (2), pp.266 - 272. ⟨10.1109/TOH.2021.3076106⟩. ⟨hal-03207560⟩

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