Published October 20, 2023
| Version v1
Conference paper
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A Hand Mechanical Tracker with Tactile Rendering for Fine Telemanipulation
Description
In this paper, we present a mechanical hand-tracking
system with tactile feedback designed for fine manipulation
in teleoperation scenarios. Alternative tracking methods
based on artificial vision and data gloves have become
an asset for virtual reality interaction. Yet, occlusions,
lack of precision, and the absence of effective haptic
feedback beyond vibrotactile still appear as a limit
for teleoperation applications. We propose a methodology
to design a linkage mechanism for hand pose tracking purposes,
preserving complete finger mobility. Tracking accuracy
was evaluated and a teleoperation experiment was involved
on ten partecipants with a dexterous robotic arm and hand.