Development of an End Effector Capable of Intuitive Grasp Operation for SPIDAR-W

  • Kanata NozawaEmail author
  • Ryuki Tsukikawa
  • Takehiko Yamaguchi
  • Makoto Sato
  • Tetsuya Harada
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10904)


This paper proposes a new grasp operation end effector for the wearable 6 DoF haptic device SPIDAR-W. With the new end effector, users can intuitively perform grasp operations in a virtual environment. Traditional end effectors with a button type interface, are only able to be held by hand and a button must be pushed to lift a virtual object. With the new end effector, the hand can be opened and closed naturally as well as lifting a virtual object, grasping it with significant force. The experiment was made with a pressure sensor monitoring the gripping force and a Velcro belt fixing the end effector to the hand. Performance measurements were made using the new end effector. As a result, users were able to perform grasp operations to some extent arbitrarily. However, there were some unintended operational errors as well as points of improvement that were noted.


Haptic and tactile interaction Virtual reality 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Kanata Nozawa
    • 1
    Email author
  • Ryuki Tsukikawa
    • 1
  • Takehiko Yamaguchi
    • 2
  • Makoto Sato
    • 3
  • Tetsuya Harada
    • 1
  1. 1.Tokyo University of ScienceKatsushikaJapan
  2. 2.Tokyo University of Science, SuwaChinoJapan
  3. 3.Tokyo Metropolitan UniversityHinoJapan

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