Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger

M. J. Lelieveld, T. Maeno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This research aims to develop a portable haptic master hand with 20 degrees of freedom (DOF). Master hands are used as haptic interfaces in master-slave systems. A master-slave system consists of a haptic interface that communicates with a virtual world or an end-effector for tele-operation, such as a robot hand. The thumb and fingers are usually modeled as a serial linkage mechanism with 4 DOF. So far, no 20 DOF master hands are developed that can exert perpendicular forces on the finger phalanges during the complete flexion and extension motion. In this paper, the design and development of a portable 4 DOF haptic interface for the index finger is presented. The concept utilizes a mechanical tape brake at the rolling-link mechanism (RLM) for passive force feedback. The systematic Pahl and Beitz design approach is used as an iterative design method. Important design requirements are; perpendicular forces on the finger phalanges, low friction mechanism, easy to control, no backlash, high backdrivability and lightweight.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3134-3139
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

Keywords

  • Exoskeleton
  • Haptic interface
  • Master hand
  • Passive force feedback
  • Rolling-link mechanism

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Lelieveld, M. J., & Maeno, T. (2006). Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3134-3139). [1642178] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642178