Haptic Interface for Middle Phalanx Using Dual Motors

We propose a new haptic interface for the middle phalanx that bi-directionally transmits haptic information on “power grasp.” This is a primary requirement for interactive tele-operation or telexistence. By using two motors and a belt, this device can sense and display the haptic information of the finger pad of the middle phalanx when grasping an object. Pressure and weight are the most important sensations with grasping. In this paper, we first examine the discrimination ability of the force direction on the middle phalanx to show validity of our proposal. We then examine gravity sensation on middle phalanges, and describe the mechanism of the first prototype.