research-article

DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake

Authors:

Otmar HilligesAuthors Info & Claims

UIST '18: Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology

Pages 901 - 912

https://doi.org/10.1145/3242587.3242657

Published: 11 October 2018 Publication History

Abstract

We introduce DextrES, a flexible and wearable haptic glove which integrates both kinesthetic and cutaneous feedback in a thin and light form factor (weight is less than 8g). Our approach is based on an electrostatic clutch generating up to 20 N of holding force on each finger by modulating the electrostatic attraction between flexible elastic metal strips to generate an electrically-controlled friction force. We harness the resulting braking force to rapidly render on-demand kinesthetic feedback. The electrostatic brake is mounted onto the the index finger and thumb via modular 3D printed articulated guides which allow the metal strips to glide smoothly. Cutaneous feedback is provided via piezo actuators at the fingertips. We demonstrate that our approach can provide rich haptic feedback under dexterous articulation of the user's hands and provides effective haptic feedback across a variety of different grasps. A controlled experiment indicates that DextrES improves the grasping precision for different types of virtual objects. Finally, we report on results of a psycho-physical study which identifies discrimination thresholds for different levels of holding force.

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Cited By

Seo SJung WKim Y(2024)3D Hand Motion Generation for VR Interactions Using a Haptic Data GloveMultimodal Technologies and Interaction10.3390/mti80700628:7(62)Online publication date: 15-Jul-2024
https://doi.org/10.3390/mti8070062
Lancaster PMavrogiannis CSrinivasa SSmith J(2024)Electrostatic brakes enable individual joint control of underactuated, highly articulated robotsThe International Journal of Robotics Research10.1177/0278364924125036243:14(2204-2220)Online publication date: 5-Jun-2024
https://doi.org/10.1177/02783649241250362
Vanichvoranun NLee HKim SYoon S(2024)EStatiG: Wearable Haptic Feedback with Multi-Phalanx Electrostatic Brake for Enhanced Object Perception in VRProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36785678:3(1-29)Online publication date: 9-Sep-2024
https://dl.acm.org/doi/10.1145/3678567
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Index Terms

DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices
      1. Haptic devices

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Published In

cover image ACM Conferences

UIST '18: Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology

October 2018

1016 pages

ISBN:9781450359481

DOI:10.1145/3242587

General Chairs:
Patrick Baudisch
Hasso-Plattner Institute, Germany
,
Albrecht Schmidt
LMU, Germany
,
Program Chair:
Andy Wilson
Microsoft Research, USA

Copyright © 2018 ACM.

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Published: 11 October 2018

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UIST '18

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UIST '18: The 31st Annual ACM Symposium on User Interface Software and Technology

October 14, 2018

Berlin, Germany

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UIST '18 Paper Acceptance Rate 80 of 375 submissions, 21%;

Overall Acceptance Rate 561 of 2,567 submissions, 22%

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The 38th Annual ACM Symposium on User Interface Software and Technology

September 28 - October 1, 2025

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Cited By

Seo SJung WKim Y(2024)3D Hand Motion Generation for VR Interactions Using a Haptic Data GloveMultimodal Technologies and Interaction10.3390/mti80700628:7(62)Online publication date: 15-Jul-2024
https://doi.org/10.3390/mti8070062
Lancaster PMavrogiannis CSrinivasa SSmith J(2024)Electrostatic brakes enable individual joint control of underactuated, highly articulated robotsThe International Journal of Robotics Research10.1177/0278364924125036243:14(2204-2220)Online publication date: 5-Jun-2024
https://doi.org/10.1177/02783649241250362
Vanichvoranun NLee HKim SYoon S(2024)EStatiG: Wearable Haptic Feedback with Multi-Phalanx Electrostatic Brake for Enhanced Object Perception in VRProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36785678:3(1-29)Online publication date: 9-Sep-2024
https://dl.acm.org/doi/10.1145/3678567
Villa SWeiss YHirsch NWiethoff A(2024)An Examination of Ultrasound Mid-air Haptics for Enhanced Material and Temperature Perception in Virtual EnvironmentsProceedings of the ACM on Human-Computer Interaction10.1145/36764888:MHCI(1-21)Online publication date: 24-Sep-2024
https://dl.acm.org/doi/10.1145/3676488
Valette MBouchihan HLevesque V(2024)Exploring Cross-Device Haptics for Virtual Reality ExperiencesProceedings of the 50th Graphics Interface Conference10.1145/3670947.3670968(1-5)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3670947.3670968
Zhang ZLi JYan ZNishida JPeng H(2024)JetUnit: Rendering Diverse Force Feedback in Virtual Reality Using Water JetsProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676440(1-15)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3654777.3676440
Kurzweg MWeiss YErnst MSchmidt AWolf K(2024)Survey on Haptic Feedback through Sensory Illusions in Interactive SystemsACM Computing Surveys10.1145/364835356:8(1-39)Online publication date: 10-Apr-2024
https://dl.acm.org/doi/10.1145/3648353
Nith RHo YLopes P(2024)SplitBody: Reducing Mental Workload while Multitasking via Muscle StimulationProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642629(1-11)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642629
Kim TShim YKim YKim SLee JLee G(2024)QuadStretcher: A Forearm-Worn Skin Stretch Display for Bare-Hand Interaction in AR/VRProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642067(1-15)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642067
Mazursky ABrooks JDesta BLopes P(2024)ThermalGrasp: Enabling Thermal Feedback even while Grasping and Walking2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00056(342-353)Online publication date: 16-Mar-2024
https://doi.org/10.1109/VR58804.2024.00056
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