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Dexmo: An Inexpensive and Lightweight Mechanical Exoskeleton for Motion Capture and Force Feedback in VR
Abstract
We present Dexmo: an inexpensive and lightweight mechanical exoskeleton system for motion capturing and force feedback in virtual reality applications. Dexmo combines multiple types of sensors, actuation units and link rod structures to provide users with a pleasant virtual reality experience. The device tracks the user's motion and uniquely provides passive force feedback. In combination with a 3D graphics rendered environment, Dexmo provides the user with a realistic sensation of interaction when a user is for example grasping an object. An initial evaluation with 20 participants demonstrate that the device is working reliably and that the addition of force feedback resulted in a significant reduction in error rate. Informal comments by the participants were overwhelmingly positive.
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Research works printed but not linked: 7
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Triantafyllidis, E., Mcgreavy, C., Gu, J., & Li, Z. (2020) · IEEE Access · doi:10.1109/access.2020.2990080 · Cited by 105
“Further research in kinesthetic force feedback has shown some advantages over lower-cost approaches [39], [40], particularly due”
BackgroundCapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback
Sinclair, M., Ofek, E., Gonzalez-Franco, M., & Holz, C. (2019) · Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology · doi:10.1145/3332165.3347891 · Cited by 95
High-Fidelity Grasping in Virtual Reality using a Glove-based System
Liu, H., Zhang, Z., Xie, X., Zhu, Y., Liu, Y., Wang, Y., & Zhu, S.-C. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8794230 · Cited by 73
Metadata
- Authors
- Gu, X., Zhang, Y., Sun, W., Bian, Y., Zhou, D., & Kristensson, P. O.
- Affiliations
- University of Cambridge (GB)
- Dexta Robotics, Shenzhen, China
- Venue
- Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems
- Publisher
- ACM
- Published
- 2016-05-07
- Pages
- 1991-1995
- OpenAlex
- W2397519240
- Cited by
- 327
- References
- 0
- Citations by year
- 2026: 16 · 2025: 64 · 2024: 24 · 2023: 26 · 2022: 50 · 2021: 30 · 2020: 39 · 2019: 37 · 2018: 24 · 2017: 16
- FWCI
- 63.46
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- CHI Conference on Human Factors in Computing Systems (publishedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Computer Science › Human-Computer Interaction › Virtual Reality Applications and Impacts
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- motion capture, force feedback, virtual reality, low-cost wearable device, grasping, haptic interaction, sensor fusion
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