A haptic interface to a robot to study grasp stability with a virtual task

Haptic interface devices are typically used for force-feedback teleoperation of robots in remote locations or for the manipulation and exploration of virtual objects in a computer-generated graphical environment. While the information on contact forces and finger kinematics is available, it is generally considered to be of secondary interest behind the progress of the execution of the haptic task itself. In the current project, we have implemented a simple pick and place task involving thumb-forefinger pinch., but have made it possible to change the task and virtual object parameters during the task, and to log the interaction between the two fingers and the virtual object. This project has developed preliminary results for a future clinical study on grasp stability with persons who have neurological or orthopedic impairments in their upper limb and hand.