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

2006 ◽  
Author(s):  
Mark J. Lelieveld ◽  
Takashi Maeno ◽  
Tetsuo Tomiyama
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Index Finger ◽  
Design Method ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Linkage Mechanism ◽  
Design And Development ◽  
Constant Torque ◽  
Flexion And Extension

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.

The Role of the End-Effector in the Perception of Virtual Surfaces Presented via Force-Feedback Haptic Interfaces

1999 ◽  
Author(s):  
Janet M. Weisenberger ◽  
Michael J. Krier ◽  
Martha A. Rinker ◽  
Sandra M. Kreidler
Keyword(s):  
Force Feedback ◽  
Considerable Effect ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
End Effector ◽  
Sinusoidal Gratings ◽  
Different Types ◽  
Force Profile ◽  
End Effectors

Abstract Differences in the force profile delivered by different types of end-effectors suggest that the choice of end-effector for a haptic interface can have a considerable effect on the perception of the human user. In the present study two different end-effector types were evaluated for two different haptic interfaces. Conventional probe-stylus end-effectors were tested on the PHANToM 3-degree-of-freedom (DOF) force feedback haptic interface and for the Immersion IE2000 2-DOF force feedback joystick. These were compared to thimble-gimbal end-effectors into which the index fingertip is inserted (standard for the PHANToM and specially constructed for the IE2000). In a task in which subjects were asked to judge the orientation of virtual sinusoidal gratings, no significant differences in performance were observed. Results are discussed in terms of tasks in which the differential cues delivered by different end-effectors might influence performance.

Magnetorheological Fluid Brake for a Force Feedback Glove for Virtual Environments

2005 ◽  
Author(s):  
Jonathan Blake ◽  
Hakan Gurocak
Keyword(s):  
Virtual Environments ◽  
Force Feedback ◽  
Index Finger ◽  
Haptic Interface ◽  
Test Results ◽  
Test Procedures ◽  
Mr Fluid ◽  
Output Torque ◽  
Braking Torque ◽  
Human Finger

The research and development of a Magnetorheological (MR) fluid brake for use in a force feedback glove is presented. The glove is a haptic interface for a virtual reality (VR) environment. The glove implements the MR fluid brakes to restrict motion of the VR user’s fingers. It is controlled by an input current and produces a corresponding output torque. The torque of the MR fluid brake is equivalent to the continuous torque exerted by a typical human index finger. Two sizes of brakes were developed to control the joints of the thumb, index, and middle fingers. The paper presents background and design details of implementing the MR fluid. The prototype designs of the MR fluid brakes are then introduced. Test procedures and results of the braking torque and response time are presented. Lastly, the implementation of the brakes into a force feedback glove is briefly discussed. Test results show that the MR fluid brake is capable of restricting the motion of a human finger.

scholarly journals A reconfigurable, tendon-based haptic interface for research into human-environment interactions

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 441-453 ◽  
Author(s):  
Joachim von Zitzewitz ◽  
André Morger ◽  
Georg Rauter ◽  
Laura Marchal-Crespo ◽  
Francesco Crivelli ◽  
...  
Keyword(s):  
Human Subject ◽  
Large Scale ◽  
Force Feedback ◽  
Haptic Interface ◽  
Dynamic Force ◽  
Haptic Interfaces ◽  
Human Environment ◽  
Main Challenge ◽  
Position Controller ◽  
External Stimuli

SUMMARYHuman reaction to external stimuli can be investigated in a comprehensive way by using a versatile virtual-reality setup involving multiple display technologies. It is apparent that versatility remains a main challenge when human reactions are examined through the use of haptic interfaces as the interfaces must be able to cope with the entire range of diverse movements and forces/torques a human subject produces. To address the versatility challenge, we have developed a large-scale reconfigurable tendon-based haptic interface which can be adapted to a large variety of task dynamics and is integrated into a Cave Automatic Virtual Environment (CAVE). To prove the versatility of the haptic interface, two tasks, incorporating once the force and once the velocity extrema of a human subject's extremities, were implemented: a simulator with 3-DOF highly dynamic force feedback and a 3-DOF setup optimized to perform dynamic movements. In addition, a 6-DOF platform capable of lifting a human subject off the ground was realized. For these three applications, a position controller was implemented, adapted to each task, and tested. In the controller tests with highly different, task-specific trajectories, the three robot configurations fulfilled the demands on the application-specific accuracy which illustrates and confirms the versatility of the developed haptic interface.

scholarly journals Multi-Fingered Haptic Interface Robot and its Application Systems

2008 ◽  
Vol 144 ◽  
pp. 1-8 ◽  
Author(s):  
Haruhiko Kawasaki
Keyword(s):  
System Architecture ◽  
Physical Simulation ◽  
Medical Training ◽  
Design Method ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Research Issues ◽  
Interface Control ◽  
Application Systems ◽  
Breast Palpation

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.

scholarly journals Design and Construction of a New Haptic Interface

2000 ◽  
Author(s):  
Andreas M. Kunz ◽  
Adrian Burri
Keyword(s):  
Virtual Environments ◽  
Development Process ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Early Stage ◽  
Product Development Process ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Machine Control ◽  
Natural Way

Abstract Virtual Reality becomes more and more important within the product development process. It enables the engineer to realize constraints or mistakes in the product design at a very early stage by viewing the digital geometric prototype. Beside viewing the design of a product, additional functionalities like simulation of assembling, the physically correct behavior of a machine or the machine control come into focus of interest. Therefore, the interaction modality of haptic feedback gains more and more importance for simulation tasks in virtual environments. However there are only a few portable haptic interfaces with which the user can experience in a natural way the sensation of force feedback. The scope of this paper is to present a new passive haptic interface that is lightweight and easy to use. Furthermore it has no constraints in the workspace and applies high forces to the fingertips of the user by blocking the natural grasping.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Design and Analysis of Motion Mechanism Driven by Several IDMs in Parallel

2012 ◽  
Vol 197 ◽  
pp. 55-59 ◽  
Author(s):  
Nan Jiang ◽  
Jun Biao Liu
Keyword(s):  
Degrees Of Freedom ◽  
Design Method ◽  
Piezo Actuator ◽  
Motion Mechanism ◽  
Spherical Motor ◽  
Drive Mechanism ◽  
Follow Up Study ◽  
Analysis Of Motion

As a kind of piezo actuator, impact drive mechanism (IDM) has advantages in precision machinery and instruments. Several IDMs are used in parallel to realize some motion mechanisms which have multi degrees of freedom (DOF). Two motion mechanisms are designed subsequently, and a spherical motor is designed and assembled in principle based on one of them. Experiment results reveal that this design method is feasible, but some problems exist, for example, vibration is serious. These problems should be solved in follow-up study.

Design and evaluation of a high-performance haptic interface

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 321-327 ◽  
Author(s):  
R.E. Ellis ◽  
O.M. Ismaeil ◽  
M.G. Lipsett
Keyword(s):  
High Performance ◽  
Dynamic Range ◽  
Evaluation Criteria ◽  
Haptic Interface ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Environment Design ◽  
Mechanical Constraints ◽  
Computer Controlled ◽  
The Many

SUMMARYA haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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