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

M. J. Lelieveld, Takashi Maeno

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

10 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 - IEEE International Conference on Robotics and Automation
Pages3134-3139
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Other

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

Fingerprint

Haptic interfaces
Feedback
End effectors
Brakes
Tapes
Robots
Friction

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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 - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 3134-3139). [1642178] https://doi.org/10.1109/ROBOT.2006.1642178

Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger. / Lelieveld, M. J.; Maeno, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 3134-3139 1642178.

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

Lelieveld, MJ & 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 - IEEE International Conference on Robotics and Automation. vol. 2006, 1642178, pp. 3134-3139, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1642178
Lelieveld MJ, Maeno T. Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 3134-3139. 1642178 https://doi.org/10.1109/ROBOT.2006.1642178
Lelieveld, M. J. ; Maeno, Takashi. / Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 3134-3139
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