HapticV1, PascalFrancis, Corpus, bibRecord, 000B57

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

Identifieur interne : 000B57 ( PascalFrancis/Corpus ); précédent : 000B56; suivant : 000B58

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

Auteurs : Antonio Frisoli ; Francesco Simoncini ; Massimo Bergamasco ; Fabio Salsedo

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A03		`1`		`@0 J. mech. des. : (1990)`
A05				`@2 129`
A06				`@2 5`
A08	`01`	`1`	`ENG`	`@1 Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand`
A11	`01`	`1`		`@1 FRISOLI (Antonio)`
A11	`02`	`1`		`@1 SIMONCINI (Francesco)`
A11	`03`	`1`		`@1 BERGAMASCO (Massimo)`
A11	`04`	`1`		`@1 SALSEDO (Fabio)`
A14	`01`			`@1 Scuola Superiore Sant'Anna, PERCR0, Polo Sant'Anna Valdera, Viale Rinaldo Piaggio 34 @2 Pontedera, Pisa 56025 @3 ITA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A20				`@1 520-529`
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A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 6120L2 @5 354000149435500070`
A44				`@0 0000 @1 © 2007 INIST-CNRS. All rights reserved.`
A45				`@0 29 ref.`
A47	`01`	`1`		`@0 07-0251670`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Journal of mechanical design : (1990)`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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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C02	`02`	`X`		`@0 001D02B04`
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C03	`01`	`X`	`ENG`	`@0 Point contact @5 18`
C03	`01`	`X`	`SPA`	`@0 Contacto puntual @5 18`
C03	`02`	`X`	`FRE`	`@0 Interface utilisateur @5 19`
C03	`02`	`X`	`ENG`	`@0 User interface @5 19`
C03	`02`	`X`	`SPA`	`@0 Interfase usuario @5 19`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 20`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 20`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 20`
C03	`04`	`X`	`FRE`	`@0 Doigt @5 21`
C03	`04`	`X`	`ENG`	`@0 Finger @5 21`
C03	`04`	`X`	`SPA`	`@0 Dedo @5 21`
C03	`05`	`X`	`FRE`	`@0 Main @5 22`
C03	`05`	`X`	`ENG`	`@0 Hand @5 22`
C03	`05`	`X`	`SPA`	`@0 Mano @5 22`
C03	`06`	`X`	`FRE`	`@0 Utilisabilité @2 NI @5 23`
C03	`06`	`X`	`ENG`	`@0 Usability @2 NI @5 23`
C03	`06`	`X`	`SPA`	`@0 Usabilidad @2 NI @5 23`
C03	`07`	`X`	`FRE`	`@0 Domaine travail @5 24`
C03	`07`	`X`	`ENG`	`@0 Workspace @5 24`
C03	`07`	`X`	`SPA`	`@0 Dominio trabajo @5 24`
C03	`08`	`X`	`FRE`	`@0 Dimensionnement @5 25`
C03	`08`	`X`	`ENG`	`@0 Dimensioning @5 25`
C03	`08`	`X`	`SPA`	`@0 Dimensionamiento @5 25`
C03	`09`	`X`	`FRE`	`@0 Actionneur @5 26`
C03	`09`	`X`	`ENG`	`@0 Actuator @5 26`
C03	`09`	`X`	`SPA`	`@0 Accionador @5 26`
C03	`10`	`X`	`FRE`	`@0 Ingénierie simultanée @5 27`
C03	`10`	`X`	`ENG`	`@0 Concurrent engineering @5 27`
C03	`10`	`X`	`SPA`	`@0 Ingeniería simultánea @5 27`
C03	`11`	`X`	`FRE`	`@0 Cinématique @5 28`
C03	`11`	`X`	`ENG`	`@0 Kinematics @5 28`
C03	`11`	`X`	`SPA`	`@0 Cinemática @5 28`
C03	`12`	`X`	`FRE`	`@0 Programmation multiobjectif @5 29`
C03	`12`	`X`	`ENG`	`@0 Multiobjective programming @5 29`
C03	`12`	`X`	`SPA`	`@0 Programación multiobjetivo @5 29`
C03	`13`	`X`	`FRE`	`@0 Optimisation @5 30`
C03	`13`	`X`	`ENG`	`@0 Optimization @5 30`
C03	`13`	`X`	`SPA`	`@0 Optimización @5 30`
C03	`14`	`X`	`FRE`	`@0 Singularité @5 31`
C03	`14`	`X`	`ENG`	`@0 Singularity @5 31`
C03	`14`	`X`	`SPA`	`@0 Singularidad @5 31`
C03	`15`	`X`	`FRE`	`@0 Modélisation @5 32`
C03	`15`	`X`	`ENG`	`@0 Modeling @5 32`
C03	`15`	`X`	`SPA`	`@0 Modelización @5 32`
C03	`16`	`X`	`FRE`	`@0 Théorie torseur @5 33`
C03	`16`	`X`	`ENG`	`@0 Screw theory @5 33`
C03	`16`	`X`	`SPA`	`@0 Teoria torsedor @5 33`
C03	`17`	`X`	`FRE`	`@0 Préhenseur @5 41`
C03	`17`	`X`	`ENG`	`@0 Gripper @5 41`
C03	`17`	`X`	`SPA`	`@0 Prensor(robot) @5 41`
C03	`18`	`X`	`FRE`	`@0 . @4 INC @5 82`
N21				`@1 169`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 07-0251670 INIST
ET :	Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand
AU :	FRISOLI (Antonio); SIMONCINI (Francesco); BERGAMASCO (Massimo); SALSEDO (Fabio)
AF :	Scuola Superiore Sant'Anna, PERCR0, Polo Sant'Anna Valdera, Viale Rinaldo Piaggio 34/Pontedera, Pisa 56025/Italie (1 aut., 2 aut., 3 aut., 4 aut.)
DT :	Publication en série; Niveau analytique
SO :	Journal of mechanical design : (1990); ISSN 1050-0472; Etats-Unis; Da. 2007; Vol. 129; No. 5; Pp. 520-529; Bibl. 29 ref.
LA :	Anglais
EA :	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.
CC :	001D02D11; 001D02B04; 001D12A
FD :	Contact ponctuel; Interface utilisateur; Sensibilité tactile; Doigt; Main; Utilisabilité; Domaine travail; Dimensionnement; Actionneur; Ingénierie simultanée; Cinématique; Programmation multiobjectif; Optimisation; Singularité; Modélisation; Théorie torseur; Préhenseur; .
ED :	Point contact; User interface; Tactile sensitivity; Finger; Hand; Usability; Workspace; Dimensioning; Actuator; Concurrent engineering; Kinematics; Multiobjective programming; Optimization; Singularity; Modeling; Screw theory; Gripper
SD :	Contacto puntual; Interfase usuario; Sensibilidad tactil; Dedo; Mano; Usabilidad; Dominio trabajo; Dimensionamiento; Accionador; Ingeniería simultánea; Cinemática; Programación multiobjetivo; Optimización; Singularidad; Modelización; Teoria torsedor; Prensor(robot)
LO :	INIST-6120L2.354000149435500070
ID :	07-0251670

Links to Exploration step

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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<fC01 i1="01" l="ENG"><s0>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.</s0>
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<s5>20</s5>
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<s5>21</s5>
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<s5>21</s5>
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<s5>21</s5>
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<s5>22</s5>
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<fC03 i1="05" i2="X" l="ENG"><s0>Hand</s0>
<s5>22</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Mano</s0>
<s5>22</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Utilisabilité</s0>
<s2>NI</s2>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Usability</s0>
<s2>NI</s2>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Usabilidad</s0>
<s2>NI</s2>
<s5>23</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Domaine travail</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Workspace</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Dominio trabajo</s0>
<s5>24</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Dimensionnement</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Dimensioning</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Dimensionamiento</s0>
<s5>25</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Actionneur</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Actuator</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Accionador</s0>
<s5>26</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Ingénierie simultanée</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Concurrent engineering</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Ingeniería simultánea</s0>
<s5>27</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Programmation multiobjectif</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Multiobjective programming</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Programación multiobjetivo</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Optimisation</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Optimization</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Optimización</s0>
<s5>30</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Singularité</s0>
<s5>31</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Singularity</s0>
<s5>31</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Singularidad</s0>
<s5>31</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>32</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Modeling</s0>
<s5>32</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Modelización</s0>
<s5>32</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Théorie torseur</s0>
<s5>33</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Screw theory</s0>
<s5>33</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Teoria torsedor</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Préhenseur</s0>
<s5>41</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Gripper</s0>
<s5>41</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Prensor(robot)</s0>
<s5>41</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>169</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 07-0251670 INIST</NO>
<ET>Kinematic design of a two contact points haptic interface for the thumb and index fingers of the hand</ET>
<AU>FRISOLI (Antonio); SIMONCINI (Francesco); BERGAMASCO (Massimo); SALSEDO (Fabio)</AU>
<AF>Scuola Superiore Sant'Anna, PERCR0, Polo Sant'Anna Valdera, Viale Rinaldo Piaggio 34/Pontedera, Pisa 56025/Italie (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of mechanical design : (1990); ISSN 1050-0472; Etats-Unis; Da. 2007; Vol. 129; No. 5; Pp. 520-529; Bibl. 29 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D11; 001D02B04; 001D12A</CC>
<FD>Contact ponctuel; Interface utilisateur; Sensibilité tactile; Doigt; Main; Utilisabilité; Domaine travail; Dimensionnement; Actionneur; Ingénierie simultanée; Cinématique; Programmation multiobjectif; Optimisation; Singularité; Modélisation; Théorie torseur; Préhenseur; .</FD>
<ED>Point contact; User interface; Tactile sensitivity; Finger; Hand; Usability; Workspace; Dimensioning; Actuator; Concurrent engineering; Kinematics; Multiobjective programming; Optimization; Singularity; Modeling; Screw theory; Gripper</ED>
<SD>Contacto puntual; Interfase usuario; Sensibilidad tactil; Dedo; Mano; Usabilidad; Dominio trabajo; Dimensionamiento; Accionador; Ingeniería simultánea; Cinemática; Programación multiobjetivo; Optimización; Singularidad; Modelización; Teoria torsedor; Prensor(robot)</SD>
<LO>INIST-6120L2.354000149435500070</LO>
<ID>07-0251670</ID>
</server>
</inist>
</record>

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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

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