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This paper introduces a 7-degrees-of-freedom (7-DoF) hand-mounted haptic device, the “HapticSpider”. It is composed of a parallel mechanism characterised by eight legs with an articulated diamond-shaped structure, in turn connected to an origami-like shape-changing end-effector. The device can render surface and edge touch simulations as well as apply normal, shear, and twist forces to the palm. This paper presents the device’s mechanical structure, a summary of its kinematic model, actuation control, and preliminary device evaluation, characterizing its workspace and force output.

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The HapticSpider: A 7-DoF Wearable Device for Cutaneous Interaction with the Palm

  • 会议论文

  • 发表日期：

    2025年

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  • Lisheng Kuang,
  • Monica Malvezzi,
  • Domenico Prattichizzo,
  • Paolo Robuffo Giordano,
  • Francesco Chinello,
  • Claudio Pacchierotti

摘要

This paper introduces a 7-degrees-of-freedom (7-DoF) hand-mounted haptic device, the “HapticSpider”. It is composed of a parallel mechanism characterised by eight legs with an articulated diamond-shaped structure, in turn connected to an origami-like shape-changing end-effector. The device can render surface and edge touch simulations as well as apply normal, shear, and twist forces to the palm. This paper presents the device’s mechanical structure, a summary of its kinematic model, actuation control, and preliminary device evaluation, characterizing its workspace and force output.