Design, development, and evaluation of a pinch-grasp haptic interface
Data(s) |
01/02/2014
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Resumo |
Interaction with virtual or teleoperated environments requires contact with objects on a multipoint level. We describe the design of a pinch--grasp hand interface device for use as a grasping mechanism to complement haptic interfaces. To preserve a suitable level of transparency for human--computer interaction, this novel interface is designed for high-resolution contact forces, while centered around a lightweight structure. This functionality renders the device scalable and adaptable to a wide range of haptic interface structures and force level requirements. We present an optimal configuration for a pinch--grasp interface, which produces bidirectional forces to an operator's fingers and a rotational force to the wrist through a cable drive system. The device is characterized for use on a commercial haptic interface through demonstration of sustained peak performance and also workspace utilization. The dynamic performance of the pinch--grasp interface is experimentally determined, and the frequency response is identified to illustrate its contact force resolution.<br /> |
Identificador | |
Idioma(s) |
eng |
Publicador |
IEEE |
Relação |
http://dro.deakin.edu.au/eserv/DU:30049587/najdovski-designdevelopment-2014.pdf http://dro.deakin.edu.au/eserv/DU:30049587/najdovski-designdevelopment-inpress-2012.pdf http://hdl.handle.net/10.1109/TMECH.2012.2218662 |
Palavras-Chave | #device dynamics #grasping #haptic interface #multipoint interaction |
Tipo |
Journal Article |