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- W3133284367 abstract "Most studies of grip force control focus on the manipulation of rigid objects. However, in virtual and teleoperation applications, objects are often elastic in the pinch degree-of-freedom, and are manipulated using a handle that presents haptic feedback to the user. When designing controllers for haptic grippers, it is crucial to understand how grip force is controlled when manipulating rigid and deformable objects. Here, we used a virtual teleoperation setup with a haptic gripper interface to investigate grip force control in virtual environments. Ten participants lifted virtual objects and performed vertical, cyclic motions using a haptic gripper. We manipulated the control signal to the virtual interface, the haptic properties of the gripper, and the visual properties of the virtual objects to test their effect on the grip force control. We found that participants modulated their grip force as a function of the anticipated load force in all of the experimental conditions. The control signal and properties of the haptic gripper, but not the visual properties of the objects, affected the baseline and the extent of the grip force modulation. These results can provide design guidelines for haptic grippers that elicit natural grasping in virtual and bilateral teleoperation applications." @default.
- W3133284367 created "2021-03-01" @default.
- W3133284367 creator A5025543439 @default.
- W3133284367 creator A5044904156 @default.
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- W3133284367 date "2021-07-01" @default.
- W3133284367 modified "2023-10-17" @default.
- W3133284367 title "Grip Force Control During Virtual Interaction With Deformable and Rigid Objects Via a Haptic Gripper" @default.
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- W3133284367 doi "https://doi.org/10.1109/toh.2021.3060507" @default.
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