Haptic Hand Exoskeleton for Precision Grasp Simulation
Identifieur interne : 001F36 ( Main/Curation ); précédent : 001F35; suivant : 001F37Haptic 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.
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 :
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:14-0107115Le document en format XML
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<term>Compact design</term>
<term>Electromechanical system</term>
<term>Engineering design</term>
<term>Experimental study</term>
<term>Finger</term>
<term>Force transducer</term>
<term>Gripping</term>
<term>Hand</term>
<term>Motion about a fixed point</term>
<term>Optimization</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>Skeleton</term>
<term>Speed reducer</term>
<term>Tactile sensitivity</term>
<term>User interface</term>
<term>Virtual reality</term>
<term>Weight</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Main</term>
<term>Robotique</term>
<term>Téléopération</term>
<term>Conception ingénierie</term>
<term>Poids</term>
<term>Système électromécanique</term>
<term>Sensibilité tactile</term>
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<term>Optimisation</term>
<term>Etude expérimentale</term>
<term>Capteur force</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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