FlexTorque, FlexTensor, and HapticEye: exoskeleton haptic interfaces for augmented interaction

Abstract

In order to realize haptic interaction (e.g., holding, pushing, and contacting the object) in virtual environment and mediated haptic communication with human beings (e.g., handshaking), the force feedback is required. Recently there has been a substantial need and interest in haptic displays, which can provide realistic and high fidelity physical interaction in virtual environment. The aim of our research is to implement wearable haptic displays for presentation of realistic feedback (kinesthetic stimulus) to the human arm. We developed wearable devices FlexTorque and FlexTensor that induce forces to the human arm and do not require holding any additional haptic interfaces in the human hand. It is a new technology for Virtual Reality that allows user to explore surroundings freely. The concept of Karate (empty hand) Haptics proposed by us is opposite to conventional interfaces (e.g., Wii Remote, SensAble's PHANTOM, SPIDAR [1]) that require holding haptic interface in the hand, restricting thus the motion of the fingers in midair. The HapticEye interface allows the blind person to explore the unknown environment in a natural and effective manner. The wearer can literally see the environment by hand.