FrictionHaptics : EncounteredType Haptic Device forTangential Friction Emulation We present FrictionHaptics which is an encounteredtype haptic device that emulates friction when a user touches a virtual object by using a rotating sphere as an end effector to a 3DOF robot arm. Our proposed device has two advantages. Firstly, the device creates a tangential friction sensation of a virtual object, even the size of the real object is limited. Secondly, compared to wearabletype or griptype, our device does not limit the sensing part of a human. We conducted a perceptual experiment to determine how a human perceives friction generated from our proposed device. As a result, we found that our device renders a reliable illusion of tangential friction even the human perceive it using different sensing part.

HumanRobot Interaction Through Fingertip Haptic Devices for Cooperative Manipulation Tasks Teleoperation of multirobot systems, e.g. dual manipulators, in cooperative manipulation tasks requires haptic feedback of multicontact interaction forces. Classical haptic devices restrict the workspace of the human operator and provide only one contact point. An alternative solution is to enable the operator to command the robot system via freehand motions which extends the workspace of the human. In such a setting, a multicontact haptic feedback may be provided to the human through multiple wearable haptic devices, e.g. fingertip devices that display forces on the human fingertips. In this paper we evaluate the benefit of using wearable haptic fingertip devices to interact with a bimanual robot setup in a pickandplace manipulation task. We show that haptic feedback through wearable devices improves task performance compared to the base condition of no haptic feedback. Therefore, wearable haptic devices are a promising interface for guidance of multirobot manipulation systems.