scholarly journals Two-Fingered Haptic Device for Robot Hand Teleoperation

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Futoshi Kobayashi ◽  
George Ikai ◽  
Wataru Fukui ◽  
Fumio Kojima
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Reaction Force ◽  
Feedback System ◽  
Middle Finger ◽  
Distal Segment ◽  
Haptic Device ◽  
Robot Hand

A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

scholarly journals A Sensaptic ADAS Device Using Shape Memory Alloy Wires: Design and Control

Materials ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3494
Author(s):  
Deivamoney Josephine Selvarani Ruth ◽  
Kaliaperumal Dhanalakshmi ◽  
Seung-Bok Choi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Haptic Feedback ◽  
Reaction Force ◽  
Vehicle Speed ◽  
Accelerator Pedal ◽  
Integrated Sensor ◽  
Electronic Throttle ◽  
Position Sensing ◽  
Active Sensor

This paper presents an active accelerator pedal system based on an integrated sensor and actuator using shape memory alloy (SMA) for speed control and to create haptics in the accelerator pedal. A device named sensaptics is developed with a pair of bi-functional SMA wires instrumented in a synergistic configuration function as an active sensor for positioning the accelerator pedal (pedal position sensing) to control the vehicle speed through electronic throttle and as a variable impedance actuator to generate active force (haptic) feedback to the driver. The reaction force emanated from the pedal alerts the driver and takes appropriate control action by slowing down the vehicle, in harmony with the road’s condition. The design is developed as a proof-of-concept device and is tested and evaluated in a real-time common rail diesel system for rail pressure regulation and over speeding tests, and the responses and performances are found to be promising.

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

A novel robot hand with embedded shape memory alloy actuators

2002 ◽  
Vol 216 (7) ◽  
pp. 737-745 ◽  
Author(s):  
K Yang ◽  
C L Gu
Keyword(s):  
Mechanical Properties ◽  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Outer Diameter ◽  
Robot Hand ◽  
Sma Actuators ◽  
Constant Distance

This paper describes the development of an active robot hand, which allows smooth and lifelike motions for anthropomorphic grasping and fine manipulations. An active robot finger 10mm in outer diameter with a shape memory alloy (SMA) wire actuator embedded in the finger with a constant distance from the geometric centre of the finger was designed and fabricated. The practical specifications of the SMA wire and the flexible rod were determined on the basis of a series of formulae. The active finger consists of two bending parts, the SMA actuators and a connecting part. The mechanical properties of the bending part are investigated. The control system on the base of resistance feedback is also presented. Finally, a robot hand with three fingers was designed and the grasping experiment was carried out to demonstrate its performance.

scholarly journals Multibody-Based Piano Action: Validation of a Haptic Key

Machines ◽  
2020 ◽  
Vol 8 (4) ◽  
pp. 76
Author(s):  
Sébastien Timmermans ◽  
Bruno Dehez ◽  
Paul Fisette
Keyword(s):  
Real Time ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Fem Analysis ◽  
Haptic Device ◽  
Multibody Model ◽  
Custom Made ◽  
Transmitted Force ◽  
Grand Piano ◽  
The Voice

A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device. The approach exploits a multibody model to compute the action dynamics and the corresponding force on the key in real time. More specifically, a grand piano model that includes the five action bodies, its geometry and the specific force laws, is computed in the haptic device. A presizing step along with Finite Element Method (FEM) analysis produced an especially made actuator satisfying the design requirements, in particular the highly dynamic nature of the force to be transmitted. Force peaks, up to 50 (N) in less than 20 (ms), are reachable with low power consumption. Compared to previous solutions: (i) the key physical characteristics are preserved; (ii) the feedback is based on a real-time multibody model that is easily configurable and interchangeable; (iii) an experimental validation of the actuator within the prototype is developed and demonstrates its feasibility. The results confirm that the voice coil can produce suitable haptic feedback. In particular, rendering a grand piano action within the device shows promising haptic force profiles.

scholarly journals Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

2016 ◽  
Vol 16 (3) ◽  
Author(s):  
Jean-Claude Leon ◽  
Thomas Dupeux ◽  
Jean-Rémy Chardonnet ◽  
Jérôme Perret
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Feedback System ◽  
Validation Process ◽  
End Effector ◽  
New Device ◽  
Virtual Hand ◽  
Wide Range ◽  
Hand Exoskeleton ◽  
Technical Solutions

The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand.

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