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This paper introduces the HJ-Haptic, a lightweight (20 g) wearable haptic device that employs a honeycomb jamming mechanism to provide variable stiffness feedback in bilateral teleoperation. By utilizing a vacuum pressure of 30 kPa, the device can render stiffness levels between 1.15 N/mm and 2.64 N/mm, allowing operators to adjust grip force based on accurate haptic feedback. Experimental results show strong correlations in teleoperated motion and interaction force feedback, demonstrating the HJ-Haptic's effectiveness in mimicking direct object grasping sensations while ensuring operator safety.
A lightweight haptic device that can dynamically render stiffness, enhancing the realism of teleoperation and extended-reality interactions.
This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device’s functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device’s use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments.