BibTex format

author = {Loisillier, A and Granados, A and Barrow, A and Bello, F},
doi = {10.1007/978-3-319-42324-1_9},
pages = {86--96},
title = {Thimble end effector for palpation skills training},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - Interaction with force feedback haptic devices is often non-intuitive, obtrusive and unrealistic, particularly for the simulation of palpation skills training where a thimble is commonly found as an end-effector. A user will typically use two hands to steady the device and push one or more thimbles onto their fingers. New designs of thimbles, responsible for fastening the end effector of a haptic device onto the finger of the user have been explored, but do not solve the issue of introducing elements that are not present in the task being simulated. We introduce a number of design techniques, with early evaluation results for improving the way users engage, maintain connection and then disengage with thimble-connected haptic interfaces. The designs of the thimbles presented in this paper include rings and different opening shapes, which aim at creating a vacuum effect, as well as a mechanical grip around the finger of the user in order to hold it. Thimble effectiveness, as a function of low impedance on insertion and high impedance on removal, was assessed through a study which highlighted that the relationship between thimble opening size and finger circumference is a critical factor. We present results about the impact of the size of the rings on the insertion and extraction force, followed by a reflection on an improved experimental protocol.
AU - Loisillier,A
AU - Granados,A
AU - Barrow,A
AU - Bello,F
DO - 10.1007/978-3-319-42324-1_9
EP - 96
PY - 2016///
SN - 0302-9743
SP - 86
TI - Thimble end effector for palpation skills training
UR -
UR -
UR -
ER -