02368nas a2200193   4500008003900000245017400039210006900213260004900282300001600331520145500347653001301802100001501815700001801830700001601848700002001864700001501884700001501899856026001914       2015                          d00aDesign and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces0 aDesign and Realization of the CUFF Clenching UpperLimb Force Fee  aHamburg, Germany, 28 Sept - 2 Oct 2015bIEEE  a1186 - 11933 a<p style="text-align: justify;"><span style="color: rgb(0, 0, 0); font-family: sans-serif; font-size: 13.3333px;">Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed, rather than, concentrated approach. On the other side, wearable haptics focuses on highly portable and mobile devices, which can be carried and worn by the user as the haptic equivalent of an mp3 player. This paper presents a light and simple wearable device (CUFF) for the distributed mechano-tactile stimulation of the user’s arm skin with pressure and stretch cues, related to normal and tangential forces, respectively. The working principle and the mechanical and control implementation of the CUFF device are presented. Then, after a basic functional validation, a first application of the device is shown, where it is used to render the grasping force of a robotic hand (the Pisa/IIT SoftHand). Preliminary results show that the device is capable to deliver in a reliable manner grasping force information, thus eliciting a good softness discrimination in users and enhancing the overall grasping experience.</span></p>
10aRobotics1 aCasini, S.1 aMorvidoni, M.1 aBianchi, M.1 aCatalano, M. G.1 aGrioli, G.1 aBicchi, A.  uhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353520&newsearch=true&queryText=Design%20and%20Realization%20of%20the%20CUFF%20-%20Clenching%20Upper-Limb%20Force%20Feedback%20Wearable%20Device%20for%20Distributed%20Mechano-Tactile%20Stimulatio