TY - GEN
T1 - Design and development of a 4 DOF portable haptic interface with multi-point passive force feedback for the index finger
AU - Lelieveld, M. J.
AU - Maeno, T.
PY - 2006/12/27
Y1 - 2006/12/27
N2 - 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.
AB - 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.
KW - Exoskeleton
KW - Haptic interface
KW - Master hand
KW - Passive force feedback
KW - Rolling-link mechanism
UR - http://www.scopus.com/inward/record.url?scp=33845682179&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845682179&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642178
DO - 10.1109/ROBOT.2006.1642178
M3 - Conference contribution
AN - SCOPUS:33845682179
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3134
EP - 3139
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -