Multi-Fingered Bimanual Haptic Interface with Three-Dimensional Force Presentation

Abstract In this paper, we develop a bimanual haptic interface and present experimental results related to it. By installing two five-fingered haptic interface robots, the interface can present any directional (namely three-dimensional) forces at the ten fingertips of both human hands. Then, in order to determine the validity of the proposed interface, we consider a screw task involving a bolt and nut in a virtual environment. This is one of the tasks necessary to demonstrate the three-dimensional forces exerted by the fingers of both of the operator's hands. Through this experiment, we confirm the validity of the proposed bimanual haptic interface.

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