Wolverine: A Wearable Haptic Interface for Grasping in VR
Wolverine: A Wearable Haptic Interface for Grasping in VR
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Wolverine：用于 VR 抓取的可穿戴触觉界面
DOI：
10.1145/2984751.2985725
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Sean Follmer
中科院分区：
文献类型：
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作者：
Inrak Choi;Sean Follmer
金刚狼是一种可移动、可穿戴的触觉设备，旨在模拟虚拟环境中对刚性物体的抓取。与以前关于力反馈手套的工作不同，我们专注于创建一种低成本、轻便的无线设备，它直接在拇指和三个手指之间传送力，以模拟以垫对向类型抓取的对象。利用基于低功率刹车的锁定滑块，该系统可以承受每个手指和拇指之间超过100N的力，每次制动交互仅消耗2.78WH(10MJ)。集成的传感器既用于反馈控制，也用于用户输入：飞行时间传感器提供每个手指的位置，IMU提供整体方向跟踪。这种设计使我们能够在5500个全手指抓取事件中使用该设备大约6个小时。总重量为55克，包括一块350毫安的电池。
The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of rigid objects in virtual environment. In contrast to prior work on force feedback gloves, we focus on creating a low cost, lightweight, and wireless device that renders a force directly between the thumb and three fingers to simulate objects held in pad opposition type grasps. Leveraging low-power brake-based locking sliders, the system can withstand over 100N of force between each finger and the thumb, and only consumes 2.78 Wh(10 mJ) for each braking interaction. Integrated sensors are used both for feedback control and user input: time-of-flight sensors provide the position of each finger and an IMU provides overall orientation tracking. This design enables us to use the device for roughly 6 hours with 5500 full fingered grasping events. The total weight is 55g including a 350 mAh battery.