HUG is the haptic user interface for telemanipulating our humanoid robot Justin. With its two light-weight robot arms, HUG can precisely measure the movements conducted by the human operator and at the same time display the forces that occur in the distant environment. Its unique properties turn HUG into a interaction device that is suitable for various other applications, too, including virtual assembly simulations, rehabilitation, and training.
per joint: 1 torque and 2 position sensors
additionally per robot: 6-DoF force-torque sensor at each end-effector
• Various end-effectors can be mounted (e.g. joysticks, brackets for data gloves, or active interfaces for displaying gripping forces)
• A multilayered safety architecture (with redundant sensors, magnetic clutches, and intelligent safety checks) detects errors and prevents accidents
• An optical tracking system with 5 cameras measures head motion
How to achieve the most realistic force-feedback for our sophisticated haptic applications? This was one of the core questions when developing HUG. HUG is a bimanual haptic device composed of two Light-Weight Robot arms. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. Equipped with a thorough safety architecture in hard- and software, HUG assures safe operation for human and robot.
A particularly advantageous characteristic of HUG is its capability of generating high interaction forces in a comparably large workspace. Various hand interfaces and additional vibro-tactile feedback devices are available to enhance user interaction. Additionally, sophisticated control strategies improve performance and guarantee stability. To this end, HUG is well suited for versatile applications in remote and virtual environments:
A human operator uses the bimanual haptic device HUG and feels the forces of a distant or virtual environment.
DLR (CC-BY 3.0).
A human operator uses HUG to telemanipulate the humanoid robot SpaceJustin. The forces on the remote environment are transmitted to the operator.
Real-time telepresent and virtual interactions require haptic devices to realistically display forces to the user. HUG is a bimanual haptic device composed of two Light-Weight Robot arms that are capable of generating highly dynamic interaction forces to the human hand. HUG is used to conduct research in various applications in remote and virtual environments, comprising telerobotics with SpaceJustin, virtual assembly verifications, rehabilitation tasks, and training of astronauts and mechanics.