Novel haptic glove-based interface using jamming principle

摘要

We present a haptic device based on the jamming phenomena that is designed for telemanipulation purposes, especially in mobile robotics. It is a soft, lightweight, mechanically simple and intrinsically stable mechanism which gives the operator support in grasping and exploration tasks. This paper explains our motivation and the role of the proposed device as part of a telemanipulation interface. We present two concepts using either jamming tubes or jamming pads and a detailed description of their control system.