HapticV1, Main, Curation, bibRecord, 001F36

Haptic Hand Exoskeleton for Precision Grasp Simulation

Identifieur interne : 001F36 ( Main/Curation ); précédent : 001F35; suivant : 001F37

Haptic Hand Exoskeleton for Precision Grasp Simulation

Auteurs : Marco Fontana [Italie] ; Salsedo Fabio [Italie] ; Simone Marcheschi [Italie] ; Massimo Bergamasco [Italie]

Source :

Journal of mechanisms and robotics : (Print) [ 1942-4302 ] ; 2013.

RBID : Pascal:14-0107115

Descripteurs français

Pascal (Inist)
- Main, Robotique, Téléopération, Conception ingénierie, Poids, Système électromécanique, Sensibilité tactile, Squelette, Préhension, Interface utilisateur, Réalité virtuelle, Doigt, Mouvement autour point fixe, Conception compacte, Actionneur, Réducteur vitesse, Optimisation, Etude expérimentale, Capteur force.
Wicri :
- topic : Robotique, Réalité virtuelle.

English descriptors

KwdEn :
- Actuator, Compact design, Electromechanical system, Engineering design, Experimental study, Finger, Force transducer, Gripping, Hand, Motion about a fixed point, Optimization, Remote operation, Robotics, Skeleton, Speed reducer, Tactile sensitivity, User interface, Virtual reality, Weight.

Abstract

This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented.

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Pascal:14-0107115

Le document en format XML

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<term>Force transducer</term>
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<term>Hand</term>
<term>Motion about a fixed point</term>
<term>Optimization</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>Skeleton</term>
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<term>Tactile sensitivity</term>
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<term>Téléopération</term>
<term>Conception ingénierie</term>
<term>Poids</term>
<term>Système électromécanique</term>
<term>Sensibilité tactile</term>
<term>Squelette</term>
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<front><div type="abstract" xml:lang="en">This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented.</div>
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Serveur d'exploration sur les dispositifs haptiques

Haptic Hand Exoskeleton for Precision Grasp Simulation

Haptic Hand Exoskeleton for Precision Grasp Simulation

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