Abstract
High fidelity haptic feedback systems have been technically possible (and demonstrated) for a long period, however have not seen comparable levels of development and adoption compared with other methods of interacting with computer systems (e.g. visual or auditory displays). I investigate some possible causes for this, and find that the accessibility, availability and variety of high fidelity devices is relatively limited, and many that do exist are unrealistically priced for a range of application areas.The work in this thesis begins with two hardware contributions, Autogrip and Mantis, that seek to improve the accessibility and affordability of force feedback systems. Autogrip augments existing force feedback devices by taking a new approach to thimble design to enable devices to automatically attach and adjust to a user's finger. This work Includes a brief user study, that demonstrates the prototype was faster to attach than more typical methods. Mantis is a new, scaleable hardware architecture for constructing affordable force feedback devices. I demonstrate my architecture design by constructing a range of demonstrator devices. Preliminary testing indicated the demonstrator devices can be comparable to existing systems in key metrics for force feedback devices.
The next work in this thesis, Tactigrip, seeks to expand upon the capabilities of force feedback devices. In this chapter I make the third hardware contribution of this thesis, by designing and demonstrating a high resolution electro-tactile system that retro-fits to force feedback devices. I construct a prototype of my design, and end the chapter by combining it with my previous works, Autogrip and Mantis to create an affordable haptic feedback device for a fingertip with 3D force feedback and 64 points of tactile feedback.
The final work of this thesis presents a user study, investigating the effects of combining force and tactile feedback. This experiment serves as a verification of both the hardware contributions made throughout this thesis (that were used during the study), and to contribute the experimental findings to the wider research community. My results indicate that the combining tactile and kinesthetic devices could have benefits for a range of applications, particularly those requiring accurate force output such as teleoperation.
Overall, I hope my work demonstrates that high fidelity haptic feedback devices need not come at an excessive cost, and that the hardware solutions I have demonstrated may inspire future development of force feedback technology. I also think the results from my final user study particularly demonstrate the value of comprehensive kinesthetic components within a haptic feedback system, which could be particularly relevant to the current space of virtual and augmented or consumer-grade haptic feedback which often comprise limited or no kinesthetic components.
| Date of Award | 12 May 2022 |
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| Original language | English |
| Awarding Institution |
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| Supervisor | Anne Roudaut (Supervisor) & Bogdan Warinschi (Supervisor) |