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

Mark J. Lelieveld, Takashi Maeno, Tetsuo Tomiyama

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

29 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 have been 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 two concepts of a portable 4 DOF haptic interface for the index finger is presented. Concept A is a statically balanced haptic interface with a rolling-link mechanism (RLM) and an integrated constant torque spring per DOF for perpendicular and active force feedback. Concept B utilizes a mechanical tape brake at the RLM for passive force feedback. The systematic Pahl and Beitz design approach is used as an iterative design method.

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
Volume2006
Publication statusPublished - 2006
Event2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 - Philadelphia, PA, United States
Duration: 2006 Sep 102006 Sep 13

Other

Other2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
CountryUnited States
CityPhiladelphia, PA
Period06/9/1006/9/13

Fingerprint

Haptic interfaces
Feedback
End effectors
Brakes
Tapes
Torque
Robots

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Lelieveld, M. J., Maeno, T., & Tomiyama, T. (2006). Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger. In Proceedings of the ASME Design Engineering Technical Conference (Vol. 2006)

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

Proceedings of the ASME Design Engineering Technical Conference. Vol. 2006 2006.

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

Lelieveld, MJ, Maeno, T & Tomiyama, T 2006, Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger. in Proceedings of the ASME Design Engineering Technical Conference. vol. 2006, 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006, Philadelphia, PA, United States, 06/9/10.
Lelieveld MJ, Maeno T, Tomiyama T. Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger. In Proceedings of the ASME Design Engineering Technical Conference. Vol. 2006. 2006
Lelieveld, Mark J. ; Maeno, Takashi ; Tomiyama, Tetsuo. / Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger. Proceedings of the ASME Design Engineering Technical Conference. Vol. 2006 2006.
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