An Application-Based Review of Haptics Technology
Abstract
:1. Introduction
2. Working Principles of Haptic Devices
3. Applications of Haptic Devices
3.1. Haptic Devices for Micromanipulation
- Mitsubishi RV-1a (Mitsubishi Electric Corp., Tokyo, Japan)—6 DoFs
- MIRO (DLR, Köln, Germany)—7 DoFs
- KUKA KR 6/2 (KUKA AG, Augsburg, Germany)—6 DoFs
- PUMA (Unimation Inc.)—6 DoFs [29]
- Mitsubishi MELFA 6SL—6 DoFs [30]
- Mitsubishi PA-10 [31]—7 DoFs
- Mitsubishi MELFA RV-E2—6 DoFs [29]
- Hexapod Physik Instrumente (Physik Instrumente, GmbH and Co. KG, Karlsruhe, Deutschland)—6 DoFs [32]
- Mitsubishi PA-10—6 DoFs [29]
- Mitsubishi PA-10—7 DoFs [31]
- Rockwell Samsung AS2 (Rockwell Samsung Automation Inc., Seoul, Korea)—6 DoFs [30]
3.1.1. Dental Procedures: An Example of Micromanipulation Tasks
3.1.2. Medical and Surgical Procedures—Examples of Micromanipulation Tasks
3.2. Wearable Haptic Devices
3.3. Haptic Rendering
3.4. Haptic in Teleoperated Robotic Systems
4. Challenges of Haptic Technology
4.1. Challenges in Industrial Applications
4.2. Challenges in Health Sciences Applications
4.3. Limitations of the Haptic Technology
4.4. Reasons for Delayed Acceptance of Haptic Technology Adoption
4.5. Future Directions
- Improper sensory feedback is recognized as one of the reasons for prosthesis rejection that affects the performance of the system is noises and disturbances are not removed properly.
- A common disadvantage of the implementation of haptic devices is the limitation in workspace and space constraint [31], which is particularly investigated during the performance of surgical operations [70]. The significance of the workspace and the idea of multiple contact points in a haptic interface, that requires more research and developments in the future, may lead to the increase of manipulability and dexterity of the operator and may increase the performance of the operation [75]. Due to the kinematic structure of robotic arms, unlike exoskeletal devices, workspace is restricted. Exoskeletons are wearable and hence provide a larger workspace. There exist some solutions such as cutaneous haptic devices that are compact and wearable but are not precise as kinesthetic devices. Kinesthetic devices are preferred over cutaneous devices although they have overall stability issues; however, more research is required to prove [75].
- In addition, the application of collaborative mechanisms in teleoperation fashion could be of importance when dextrous motion is required. The solution of using collaborative robots was studied in [72] and the lack of force feedback at the master side was recognized as one of the main issues in using collaborative robots that need to be addressed by more research.
- The discrepancies occurring due to improper feedback, high contact speeds, stiff environment setups in cable-driven teleoperation systems require more enhancements [74].
- Some haptic devices are heavy and operators find them difficult to operate [75,76,77,78]. The disadvantage of different kinds of haptic devices highlights the need for more research and development to provide high fidelity haptic feedback for users [15]. Table 1 shows some haptic devices developed by different companies, but there are many more emerging every year.
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Name | Type of Feedback | DoF | Developer |
---|---|---|---|
CyberTouch | Tactile feedback device | - | Immersion Corp |
HapticMaster | haptic force feedback device | 3 | Moog FCS Robotic |
Virtuose™ 6D Desktop | haptic force feedback device | 6 | Haption |
Virtuose™ 3D Desktop | haptic force feedback device | 3/6 | Haption |
Virtuose™ 6D | haptic force feedback device | 6 | Haption |
MAT™ 6D | haptic force feedback device | 6 | Haption |
Inca™ 6D | haptic force feedback device | 6 | Haption |
Scale 1™ | haptic force feedback device | 3/4 | Haption |
Novint Falcon™ | haptic force feedback device | 3 | Novint |
Tractile Device | Tactile feedback device | - | IBM |
TouchMaster | Tactile feedback device | - | Exos, Inc. |
Haptic Planar Pantograph | haptic force feedback device | 3 | Quanser |
Haptic Wand | haptic force feedback device | 5 | Quanser |
HD | haptic force feedback device | 6 + 1 | Quanser |
Omega 3 | haptic force feedback device | 3 | Force dimension |
Omega 6 | haptic force feedback device | 6 | Force dimension |
Omega 7 | haptic force feedback device | 6 + 1 | Force dimension |
MouseCat | Haptic Force Feedback Device | 2 | Haptic Technologies |
Phantom Desktop | Haptic Force Feedback Device | 3/6 | SensAble Technologies |
Freedom 6S | Haptic Force Feedback Device | 6 | MPB Technologies |
Impulse Engine 2000 [2] | Haptic Force Feedback Device | 2 | Immersion Corp |
Sensor Glove | Haptic Feedback Gloves and Arm Exoskeletons | 11 | University of Tokyo |
Sensor Glove 2 [2] | Haptic Feedback Gloves and Arm Exoskeletons | 20 | University of Tokyo |
Sensor Arm | Haptic Feedback Gloves and Arm Exoskeletons | 7 | University of Tokyo |
CyberGras p [2] | Haptic Feedback Gloves and Arm Exoskeletons | 5 | Immersion Corp |
CyberForce [2] | Haptic Feedback Gloves and Arm Exoskeletons | 6 | Immersion Corp |
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Giri, G.S.; Maddahi, Y.; Zareinia, K. An Application-Based Review of Haptics Technology. Robotics 2021, 10, 29. https://doi.org/10.3390/robotics10010029
Giri GS, Maddahi Y, Zareinia K. An Application-Based Review of Haptics Technology. Robotics. 2021; 10(1):29. https://doi.org/10.3390/robotics10010029
Chicago/Turabian StyleGiri, Gowri Shankar, Yaser Maddahi, and Kourosh Zareinia. 2021. "An Application-Based Review of Haptics Technology" Robotics 10, no. 1: 29. https://doi.org/10.3390/robotics10010029