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

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
ページ3134-3139
ページ数6
DOI
出版ステータスPublished - 2006 12 27
イベント2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
継続期間: 2006 5 152006 5 19

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2006
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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