[D72] Control of a virtual robot with fingertip contact, pressure, vibrotactile, and grip force feedback

This demonstration will showcase the capabilities of a wearable haptic device for controlling a robot gripper. Participants will wear the haptic device on their right hand and use natural arm and hand motions to control the gripper of a virtual PR2 robot. As the virtual robot hand interacts with simulated objects, the device will display fingertip contact, pressure, vibrotactile, and grip force feedback to the user. The user will be able to independently turn on and off each of the device´s haptic feedback modalities to understand the benefits of each type of feedback. Additionally, participants will be able to select between different bilateral control schemes, including a position-position controller, a position-position controller with gain switching, and a position-force controller, to demonstrate how each control scheme affects the kinesthetic grip force feedback.