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HUG

HUG - the bimanual haptic device

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.

The robotic system HUG was presented to the public for the first time in 2010.

Specifications

size: height of basis: 1.46m; robot length (without tool): 1.10m
weight: approx. 50kg (of which 2 x 10kg are dynamic mass)
degrees of freedom: 2 × 7
nominal payload: 20kg
sensors: per joint: 1 torque and 2 position sensors
additionally per robot: 6-DoF force-torque sensor at each end-effector
special features: • 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

System description

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:

  • Telemanipulation of SpaceJustin
  • Virtual assembly verification with haptic feedback
  • Training of astronauts and mechanics
  • Rehabilitation

 

Video

The DLR Bimanual Haptic Device on Vimeo

HUG - image gallery

Telemanipulated control

Telemanipulated control with HUG 

Credit: DLR (CC-BY3.0).

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HUG - DLR's bimanual haptic device

A human operator uses the bimanual haptic device HUG and feels the forces of a distant or virtual environment. 

Credit: DLR (CC-BY 3.0).

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HUG teleoperates EDAN

HUG controls the robotic wheelchair EDAN in the scope of the project SMiLE. The photo was taken on the trade fair Automatica. 

Credit: DLR (CC-BY 3.0).

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Magnetic Safety Clutch

The shown ergonomic and adjustable hand fixture has been developed to couple the human hand with the robot in a way that a data-glove can be worn and that the fingers can be freely moved. This fixture is equipped with a patented magnetic safety clutch. If critical forces or torques occur, the clutch decouples the hand from the robot and interrupts the safety circuit such that the robots stop moving. 

Credit: DLR (CC BY-NC-ND 3.0).

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The telepresence system with SpaceJustin and HUG

A human operator uses HUG to telemanipulate the humanoid robot SpaceJustin. The forces on the remote environment are transmitted to the operator. 

Credit: DLR (CC-BY 3.0).

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A worker operating with the DLR's bimanual haptic device HUG

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. 

Credit: DLR (CC-BY 3.0).

  • Download 2.77 MB

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A worker operating with the DLR's bimanual haptic device HUG

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. 

Credit: DLR (CC-BY 3.0).

  • Download 3.09 MB

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Publications

  • J. Vogel, D. Leidner, A. Hagengruber, M. Panzirsch, B. Bäuml, M. Denninger, U. Hillenbrand, L. Suchenwirth, et al.: An Ecosystem for Heterogeneous Robotic Assistants in Caregiving, IEEE Robotics and Automation Magazine, 2021 (accepted)
  • M. Sagardia, T. Hulin, K. Hertkorn, P. Kremer, S. Schätzle: A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments, ACM VRST 2016, Munich, Germany, 2016.
  • T. Hulin, K. Hertkorn, P. Kremer, S. Schätzle, J. Artigas, M. Sagardia, F. Zacharias, C. Preusche: The DLR Bimanual Haptic Device with Optimized Workspace (Video), ICRA2011, Shanghai, China, 2011.
  • T. Hulin, M. Sagardia, J. Artigas, S. Schätzle, P. Kremer, C. Preusche: Human-Scale Bimanual Haptic Interface, Enactive08, Pisa, Italy, 2008.

 

Contact
Dr.-Ing. Thomas Hulin
German Aerospace Center

Institute of Robotics and Mechatronics
, Analysis and Control of advanced robotic systems
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1306

Fax: +49 8153 28-1134

Related Topics
HUG in our 360° tour
LWR III
EDAN
Research
Haptic Rendering: Collision Detection and Response
Telemanipulation
Human Factors
Stable Haptic Interaction and Control
Multimodal Training of Mechanics and Astronauts
Interactive Robot Viewer
Projects
Project VR-OOS: Virtual Reality for On-Orbit Servicing
Project SMiLE
Project STAMAS
Videos
The DLR Bimanual Haptic Device
Telerobotic assembly of cubesats using virtual fixtures
Downloads
HUG flyer 2016 (2.91 MB)
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