{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T08:46:52Z","timestamp":1743065212772,"version":"3.40.3"},"publisher-location":"Cham","reference-count":17,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030581466"},{"type":"electronic","value":"9783030581473"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,9,5]],"date-time":"2020-09-05T00:00:00Z","timestamp":1599264000000},"content-version":"vor","delay-in-days":248,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Design of wearable fingertip haptic devices is often a compromise between conflicting features: lightness and compactness, against rich and neat haptic feedback. On one side direct drive actuators (i.e. voice coils) provide a clean haptic feedback with high dynamics, with limited maximum output forces. On the other side mechanical transmissions with reduction can increase output force of micro sized motors, at the cost of slower and often noisy output signals. In this work we present a compact fingertip haptic device based on a parallel elastic mechanism: it merges the output of two differently designed actuators in a single, wide bandwidth haptic feedback. Each actuator is designed with a different role: one for rendering fast, high frequency force components, the other for rendering constant to low frequency components. In the work we present design and implementation of the device, followed by experimental characterization of its performance in terms of frequency response and rendering capabilities.<\/jats:p>","DOI":"10.1007\/978-3-030-58147-3_43","type":"book-chapter","created":{"date-parts":[[2020,9,4]],"date-time":"2020-09-04T16:03:58Z","timestamp":1599235438000},"page":"389-397","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Parallel Elastic Haptic Thimble for Wide Bandwidth Cutaneous Feedback"],"prefix":"10.1007","author":[{"given":"Daniele","family":"Leonardis","sequence":"first","affiliation":[]},{"given":"Massimiliano","family":"Gabardi","sequence":"additional","affiliation":[]},{"given":"Massimiliano","family":"Solazzi","sequence":"additional","affiliation":[]},{"given":"Antonio","family":"Frisoli","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,9,5]]},"reference":[{"key":"43_CR1","doi-asserted-by":"crossref","unstructured":"Caldwell, D.G., Tsagarakis, N., Wardle, A.: Mechano thermo and proprioceptor feedback for integrated haptic feedback. In: 1997 Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 2491\u20132496. IEEE (1997)","DOI":"10.1109\/ROBOT.1997.619335"},{"key":"43_CR2","doi-asserted-by":"crossref","unstructured":"Chinello, F., Malvezzi, M., Pacchierotti, C., Prattichizzo, D.: Design and development of a 3RRS wearable fingertip cutaneous device. In: 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 293\u2013298. IEEE (2015)","DOI":"10.1109\/AIM.2015.7222547"},{"key":"43_CR3","doi-asserted-by":"crossref","unstructured":"Culbertson, H., Lopez Delgado, J.J., Kuchenbecker, K.J.: The Penn haptic texture toolkit for modeling, rendering, and evaluating haptic virtual textures (2014)","DOI":"10.1109\/HAPTICS.2014.6775540"},{"key":"43_CR4","doi-asserted-by":"crossref","unstructured":"Gabardi, M., Leonardis, D., Solazzi, M., Frisoli, A.: Development of a miniaturized thermal module designed for integration in a wearable haptic device. In: 2018 IEEE Haptics Symposium (HAPTICS), pp. 100\u2013105. IEEE (2018)","DOI":"10.1109\/HAPTICS.2018.8357160"},{"key":"43_CR5","doi-asserted-by":"publisher","first-page":"25","DOI":"10.3389\/frobt.2015.00025","volume":"2","author":"S Gallo","year":"2015","unstructured":"Gallo, S., Rognini, G., Santos-Carreras, L., Vouga, T., Blanke, O., Bleuler, H.: Encoded and crossmodal thermal stimulation through a fingertip-sized haptic display. Front. Robot. AI 2, 25 (2015)","journal-title":"Front. Robot. AI"},{"issue":"4","key":"43_CR6","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1109\/TOH.2010.8","volume":"3","author":"BT Gleeson","year":"2010","unstructured":"Gleeson, B.T., Horschel, S.K., Provancher, W.R.: Design of a fingertip-mounted tactile display with tangential skin displacement feedback. IEEE Trans. Haptics 3(4), 297\u2013301 (2010)","journal-title":"IEEE Trans. Haptics"},{"key":"43_CR7","doi-asserted-by":"crossref","unstructured":"Leonardis, D., Solazzi, M., Bortone, I., Frisoli, A.: A wearable fingertip haptic device with 3 DoF asymmetric 3-RSR kinematics. In: 2015 IEEE World Haptics Conference (WHC), pp. 388\u2013393. IEEE (2015)","DOI":"10.1109\/WHC.2015.7177743"},{"issue":"3","key":"43_CR8","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1109\/TOH.2016.2640291","volume":"10","author":"D Leonardis","year":"2016","unstructured":"Leonardis, D., Solazzi, M., Bortone, I., Frisoli, A.: A 3-RSR haptic wearable device for rendering fingertip contact forces. IEEE Trans. Haptics 10(3), 305\u2013316 (2016)","journal-title":"IEEE Trans. Haptics"},{"issue":"3","key":"43_CR9","doi-asserted-by":"publisher","first-page":"382","DOI":"10.1109\/TOH.2016.2644613","volume":"10","author":"T Lu","year":"2016","unstructured":"Lu, T., Pacoret, C., H\u00e9riban, D., Mohand-Ousaid, A., Regnier, S., Hayward, V.: Kilohertz bandwidth, dual-stage haptic device lets you touch brownian motion. IEEE Trans. Haptics 10(3), 382\u2013390 (2016)","journal-title":"IEEE Trans. Haptics"},{"issue":"7","key":"43_CR10","doi-asserted-by":"publisher","first-page":"773","DOI":"10.1177\/027836499801700707","volume":"17","author":"JB Morrell","year":"1998","unstructured":"Morrell, J.B., Salisbury, J.K.: Parallel-coupled micro-macro actuators. Int. J. Robot. Res. 17(7), 773\u2013791 (1998)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"43_CR11","doi-asserted-by":"publisher","first-page":"278","DOI":"10.1109\/TBME.2015.2455932","volume":"63","author":"C Pacchierotti","year":"2015","unstructured":"Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K.J.: Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery. IEEE Trans. Biomed. Eng. 63(2), 278\u2013287 (2015)","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"4","key":"43_CR12","doi-asserted-by":"publisher","first-page":"580","DOI":"10.1109\/TOH.2017.2689006","volume":"10","author":"C Pacchierotti","year":"2017","unstructured":"Pacchierotti, C., Sinclair, S., Solazzi, M., Frisoli, A., Hayward, V., Prattichizzo, D.: Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives. IEEE Trans. Haptics 10(4), 580\u2013600 (2017)","journal-title":"IEEE Trans. Haptics"},{"key":"43_CR13","unstructured":"Shin, D., Sardellitti, I., Khatib, O.: A hybrid actuation approach for human-friendly robot design. In: 2008 IEEE International Conference on Robotics and Automation, pp. 1747\u20131752. IEEE (2008)"},{"key":"43_CR14","doi-asserted-by":"crossref","unstructured":"Solazzi, M., Frisoli, A., Bergamasco, M.: Design of a novel finger haptic interface for contact and orientation display. In: 2010 IEEE Haptics Symposium, pp. 129\u2013132. IEEE (2010)","DOI":"10.1109\/HAPTIC.2010.5444667"},{"issue":"4","key":"43_CR15","doi-asserted-by":"publisher","first-page":"371","DOI":"10.1016\/S0957-4158(00)00024-6","volume":"11","author":"SA Wall","year":"2001","unstructured":"Wall, S.A., Harwin, W.: A high bandwidth interface for haptic human computer interaction. Mechatronics 11(4), 371\u2013387 (2001)","journal-title":"Mechatronics"},{"issue":"1","key":"43_CR16","doi-asserted-by":"publisher","first-page":"610","DOI":"10.1109\/TIE.2019.2920602","volume":"67","author":"D Wang","year":"2019","unstructured":"Wang, D., Ohnishi, K., Xu, W.: Multimodal haptic display for virtual reality: a survey. IEEE Trans. Ind. Electron. 67(1), 610\u2013623 (2019)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"43_CR17","doi-asserted-by":"crossref","unstructured":"Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.: Large workspace haptic devices-a new actuation approach. In: 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 185\u2013192. IEEE (2008)","DOI":"10.1109\/HAPTICS.2008.4479941"}],"container-title":["Lecture Notes in Computer Science","Haptics: Science, Technology, Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-58147-3_43","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,13]],"date-time":"2024-08-13T06:02:31Z","timestamp":1723528951000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-58147-3_43"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030581466","9783030581473"],"references-count":17,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-58147-3_43","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"5 September 2020","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"EuroHaptics","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Human Haptic Sensing and Touch Enabled Computer Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Leiden","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The Netherlands","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2020","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 September 2020","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"9 September 2020","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"eurohaptics2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/eurohaptics2020.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Microsoft","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"111","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"60","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"54% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2,7","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"1,4","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}