Abstract
Haptic-enabled active bone-conducted sound sensing can estimate joint angle and provide haptic feedback simultaneously. The proposed method emits the unnoticeable vibration to the bone for estimating joint angle, and the perceptible vibration is added for providing haptic feedback. In this study, we propose the gripper control system using haptic-enabled active bone-conducted sound sensing as an application. Gripper can be controlled based on the estimated joint angle, and haptic feedback can be also provided when the gripper grasps an object. Additionally, we improved the accuracy of estimating joint angle by employing the optimal frequency.
