Design and Evaluation of a Human-controlled Haptic-based Robotic Hand for Object Grasping and Lifting

Abstract

Nowadays, machines are used almost anywhere to perform tasks more efficiently compared to humans, but they cannot successfully finish a task if they are not controlled by a human user. Humans would be able to control machines more accurately, reducing risks and errors, if haptic feedback is simultaneously present during operation. This work presents the design and evaluation of a human-controlled robotic hand with haptic feedback. The haptic design makes it capable for the robotic hand to generate vibrations to the user's fingers through a glove when pressure is applied to the object. Moreover, it aims to produce a robotic arm capable of mimicking the hand movements of the user for grasping and lifting objects. Results show that the system is able to grasp and lift water bottles as the object of varying types and amount of water content.