Design of personalized wearable haptic interfaces to account for fingertip size and shape.

The size and shape of fingertips vary significantly across humans, making it challenging to design wearable fingertip interfaces suitable for everyone. Although deemed important, this issue has often been neglected. This paper presents an innovative approach for automatically adapting the hardware design of a wearable haptic interface for a given user. We consider a 3-DoF fingertip cutaneous device, composed of a static and a mobile platform linked by three articulated legs. The mobile platform is capable of making and breaking contact with the finger pulp and re-angle to replicate contacts with arbitrarily-oriented surfaces. We analyze the performance of this device as a function of its main geometrical dimensions. Then, starting from the users fingertip characteristics, we define a numerical procedure that best adapts the dimension of the device to (i) maximize the range of renderable haptic stimuli, (ii) avoid unwanted contacts between the device and the skin, (iii) avoid singular configurations, and (iv) minimize the device encumbrance and weight. Together with the mechanical analysis and evaluation of the adapted design, we present a MATLAB script calculating the device dimensions customized for a target fingertip and an online CAD utility for generating a ready-to-print STL file of the personalized design.