SBIR-STTR Award

There are only a few existing force feedback systems which allow users of teleoperated robots or virtual reality systems to feel objects they are manipulating. Unfortunately, such feedback systems are typically limited in workspace, cumbersome, uncomfortable, expensive and few are available commercially. We propose to develop a compact, lightweight, comfortable and inexpensive system for providing grasp and arm force feedback. For phase I, we will assess the feasibility of our innovative approach for grasp-force feedback. The proposed innovation employs a network of tendons to transmit forces generated by desk-mounted actuators to force-applicator pads located at the user's fingertips. In addition, each force-applicator pad has a novel feature enabling it to simulate high-frequency force sensations associated with impacts with hard objects without requiring high bandwidth actuation. This device will thus provide a more intuitive interface for applications requiring users to feel virtual or telemanipulated objects. In phase I, our objective is to develop a working prototype for a thumb and a single finger, and to evaluate the concept's effectiveness. We will then enlist a team of manipulation experts at Stanford's Dextrous Manipulation Lab (DML) to provide input and evaluate the feasibility of the system in real-world telemanipulation applications. We are confident the system will provide high-fidelity perception of simulated forces. The Navy could apply this technology to virtual reality and telerobotic applications in areas such as: oceanographic exploration, hazardous waste removal, underwater cable inspection, and any area in need of an intuitive computer interface.

Benefits:
The anticipated benefit is the creation of one of the first, if not the first, commercially available, affordable, table-top, force-reflecting dextrous hand and arm master system. Commercial potential includes applications in such areas as: oceanographic exploration, VR in entertainment, medical training, tele-surgery, hazardous waste removal, nuclear plant maintenance, astronaut training and computer interfaces. Additionally, the results of our development bring about a large step towards creating realistic and fully immersive virtual reality environments. Based on the number of inquiries we have received for such a product, it should be very well received in both the telerobotic and virtual reality communities.

Keywords:
haptic feedback force feedback grasp force-reflecting hand master intuitive interface virtual reality telerobotics tendon haptic feedback force feedback grasp force-reflecting hand master intuitive interface virtual reality telerobotics tendon

This document is a proposal for an STTR Phase II award entitled "A Grasp and Arm Force Feedback System." The purpose of the Phase I award which preceded it was to construct, analyze and evaluate a working prototype of a precision two-fingered grasp-force-feedback hand master, CyberGrasp ?, for use in telerobotic, virtual reality and other intuitive interface applications. In producing more than it proposed, Virtual Technologies developed a four-fingered version of the device, and also constructed an arm-force-feedback device, CyberForce?, which was not scheduled until Phase II. These prototypes allowed Virtual Technologies, Inc., to investigate methods for providing useful force feedback (haptic feedback) to the user. This proposal details how Phase I objectives were exceeded and what Virtual Technologies plans to accomplish during a Phase II award. The ultimate goal of Phase II will be to deliver a fully-functional five-fingered grasp-force-feedback device for the hand which works in conjunction with a high-fidelity arm-force-feedback device. Virtual Technologies is working closely with a team of telemanipulation experts who have been enlisted to evaluate the feedback device's performance. These experts, led by Professor Mark Cutkosky of the Dextrous Manipulation Laboratory at Stanford University, are intimately familiar with the requirements for successful telemanipulation. During Phase I, Dr. Cutkosky's research group performed initial testing of the device to determine its suitability as a telerobotic interface and the group has committed to conducting extensive testing during a phase II award, for both telerobotic and virtual reality applications. The group will also be responsible for developing advanced grasping algorithms.

Benefits:
The anticipated benefit is the creation of the first widely available, high fidelity, desktop, force-reflecting dextrous hand and arm master system. Such a system would be extremely useful for the Navy, and many other military, government and commercial organizations. Commercial potential includes applications in such areas as: virtual reality training and simulation, computer interfaces, architecture, oceanographic exploration, entertainment, medical training, telesurgery, hazardous waste removal, nuclear plant maintenance and astronaut training. Based on the advanced press and the number of inquiries Virtual Technologies has received for such a product, it should be very well received by the haptics community.

Keywords:
haptic feedback force feedback computer simulation force-reflecting hand master human-computer interface virtual reality telerobotics tendon haptic feedback force feedback computer simulation force-reflecting hand master human-computer interface virtual reality telerobotics tendon