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Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand

Identifieur interne : 005B84 ( Main/Merge ); précédent : 005B83; suivant : 005B85

Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand

Auteurs : Antonio Frisoli [Italie] ; Francesco Simoncini [Italie] ; Massimo Bergamasco [Italie] ; Fabio Salsedo [Italie]

Source :

Journal of mechanical design : (1990) [ 1050-0472 ] ; 2007.

RBID : Pascal:07-0251670

Descripteurs français

Pascal (Inist)
- Contact ponctuel, Interface utilisateur, Sensibilité tactile, Doigt, Main, Utilisabilité, Domaine travail, Dimensionnement, Actionneur, Ingénierie simultanée, Cinématique, Programmation multiobjectif, Optimisation, Singularité, Modélisation, Théorie torseur, Préhenseur, ..

English descriptors

KwdEn :
- Actuator, Concurrent engineering, Dimensioning, Finger, Gripper, Hand, Kinematics, Modeling, Multiobjective programming, Optimization, Point contact, Screw theory, Singularity, Tactile sensitivity, Usability, User interface, Workspace.

Abstract

This paper presents an integrated approach to the kinematic design of a portable haptic interface for the thumb and index fingers of the hand. The kinematics of the haptic interface was selected on the basis of constructive reasons, design constraints, and usability issues, and in order to guarantee the best level of performance with the lowest encumbrance and weight over the workspace of the hand. The kinematic dimensioning was the result of a multi-objective optimization of several performance parameters, such as minimum required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities based on screw theory was formulated to point out both hand postures and movements associated with weaker performance. The results of the paper were used to build the prototype of a new portable haptic interface with two contact points, whose main design features are also specifically presented.

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Pascal:07-0251670

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents an integrated approach to the kinematic design of a portable haptic interface for the thumb and index fingers of the hand. The kinematics of the haptic interface was selected on the basis of constructive reasons, design constraints, and usability issues, and in order to guarantee the best level of performance with the lowest encumbrance and weight over the workspace of the hand. The kinematic dimensioning was the result of a multi-objective optimization of several performance parameters, such as minimum required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities based on screw theory was formulated to point out both hand postures and movements associated with weaker performance. The results of the paper were used to build the prototype of a new portable haptic interface with two contact points, whose main design features are also specifically presented.</div>
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Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand

Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri