Compact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation
Overview
This paper introduces a hand exoskeleton system using magnetorheological (MR) brakes to provide wide-range kinesthetic feedback during teleoperation. The device, weighing only 39.8 g, delivers braking torque from 0.01 to 0.918 Nm and renders fingertip forces up to 21 N with a back-driving force of 1.01 N. Experimental results show that the system enables users to discriminate object stiffness using kinesthetic feedback alone. In tele-grasping tasks, kinesthetic feedback achieved a 100% success rate and reduced object contact force by 28.2% compared to visual-only feedback, enhancing safety and immersion. Questionnaire data further indicate improvements in reliability, realism, and user confidence.
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Control: teleoperated
“arXiv:2611.12130v1 Announce Type: new Abstract: Hand kinesthetic feedback is crucial for restoring and enhancing human perception of force and displacement in robotic hand teleoperation. Wide perception range of force feedback is vital in rendering objects of different stiffness, especially for high-stiffness rendering. However, existing approaches struggle to achieve wide range of force feedback while maintaining co”
Exact source · revision 1Source owner not reported
Reported quantity · braking torque range: 0.01 other · Basis not reported
“mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo”
Exact source · revision 1Source owner not reported
Reported quantity · total mass: 39.8 other · Basis not reported
“mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo”
Exact source · revision 1Source owner not reported
Reported quantity · fingertip force: 21 other · Basis not reported
“mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo”
Exact source · revision 1Source owner not reported
Reported quantity · Reported success rate: 100 percent · reported trials
“rce of 1.01 N. Experimental results show that the system allows users to discriminate object stiffness using kinesthetic feedback alone. In a tele-grasping task, when both conditions achieved a 100% success rate, kinesthetic feedback led to a 28.2% reduction in object contact force compared to visual feedback only, enhancing object safety and operator immersion. Questionnaire results further indicate that kinesthetic”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalCompact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation
This paper introduces a hand exoskeleton system using magnetorheological (MR) brakes to provide wide-range kinesthetic feedback during teleoperation. The device, weighing only 39.8 g, delivers braking torque from 0.01 to 0.918 Nm and renders fingertip forces up to 21 N with a back-driving force of 1.01 N. Experimental results show that the system enables users to discriminate object stiffness using kinesthetic feedback alone. In tele-grasping tasks, kinesthetic feedback achieved a 100% success rate and reduced object contact force by 28.2% compared to visual-only feedback, enhancing safety and immersion. Questionnaire data further indicate improvements in reliability, realism, and user confidence.
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