Haptic control of the hand force feedback system
Identifieur interne :
001494 ( PascalFrancis/Corpus );
précédent :
001493;
suivant :
001495
Haptic control of the hand force feedback system
Auteurs : G. M. Prisco ;
M. Ortiz ;
F. Barbagli ;
C. A. Avizzano ;
M. BergamascoSource :
-
SPIE proceedings series [ 1017-2653 ] ; 1999.
RBID : Pascal:00-0153467
Descripteurs français
- Pascal (Inist)
- Sensibilité tactile,
Préhension,
Manipulation,
Homme,
Abduction,
Bridage,
Porte pièce,
Méthode multipoint,
Attache,
Boucle réaction,
Résultat expérimental,
Système asservi,
Réalité virtuelle,
Commande force,
Contrôleur,
Conception système,
Essai,
Système mécanique,
Tendon,
Main,
Modèle dynamique,
Modèle non linéaire.
English descriptors
- KwdEn :
- Abduction,
Clamping,
Controller,
Dynamic model,
Experimental result,
Fastener,
Feedback,
Feedback system,
Force control,
Gripping,
Hand,
Human,
Manipulation,
Mechanical system,
Multipoint method,
Non linear model,
System design,
Tactile sensitivity,
Tendon,
Test,
Virtual reality,
Work holder.
Abstract
The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 1017-2653 |
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| A05 | | | | @2 3840 |
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| A08 | 01 | 1 | ENG | @1 Haptic control of the hand force feedback system |
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| A09 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies VI : Boston MA, 19-20 September 1999 |
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| A11 | 01 | 1 | | @1 PRISCO (G. M.) |
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| A11 | 02 | 1 | | @1 ORTIZ (M.) |
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| A11 | 03 | 1 | | @1 BARBAGLI (F.) |
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| A11 | 04 | 1 | | @1 AVIZZANO (C. A.) |
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| A11 | 05 | 1 | | @1 BERGAMASCO (M.) |
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| A12 | 01 | 1 | | @1 STEIN (Matthew R.) @9 ed. |
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| A14 | 01 | | | @1 PERCRO, Scuola Superiore S.Anna, Via Carducci, 40 @2 56127 Pisa @3 ITA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut. @Z 5 aut. |
|---|
| A18 | 01 | 1 | | @1 International Society for Optical Engineering @2 Bellingham WA @3 USA @9 patr. |
|---|
| A20 | | | | @1 76-87 |
|---|
| A21 | | | | @1 1999 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-8194-3433-7 |
|---|
| A43 | 01 | | | @1 INIST @2 21760 @5 354000080084440080 |
|---|
| A44 | | | | @0 0000 @1 © 2000 INIST-CNRS. All rights reserved. |
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| A45 | | | | @0 8 ref. |
|---|
| A47 | 01 | 1 | | @0 00-0153467 |
|---|
| A60 | | | | @1 P @2 C |
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| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 SPIE proceedings series |
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| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed. |
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| C02 | 01 | X | | @0 001D13D |
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| C02 | 02 | X | | @0 001D02D11 |
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| C03 | 01 | X | FRE | @0 Sensibilité tactile @5 02 |
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| C03 | 01 | X | ENG | @0 Tactile sensitivity @5 02 |
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| C03 | 01 | X | SPA | @0 Sensibilidad tactil @5 02 |
|---|
| C03 | 02 | X | FRE | @0 Préhension @5 03 |
|---|
| C03 | 02 | X | ENG | @0 Gripping @5 03 |
|---|
| C03 | 02 | X | SPA | @0 Prension @5 03 |
|---|
| C03 | 03 | X | FRE | @0 Manipulation @5 04 |
|---|
| C03 | 03 | X | ENG | @0 Manipulation @5 04 |
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| C03 | 03 | X | SPA | @0 Manipulación @5 04 |
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| C03 | 04 | X | FRE | @0 Homme @5 05 |
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| C03 | 04 | X | ENG | @0 Human @5 05 |
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| C03 | 04 | X | SPA | @0 Hombre @5 05 |
|---|
| C03 | 05 | X | FRE | @0 Abduction @5 06 |
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| C03 | 05 | X | ENG | @0 Abduction @5 06 |
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| C03 | 05 | X | SPA | @0 Abducción @5 06 |
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| C03 | 06 | X | FRE | @0 Bridage @5 07 |
|---|
| C03 | 06 | X | ENG | @0 Clamping @5 07 |
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| C03 | 06 | X | SPA | @0 Apriete @5 07 |
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| C03 | 07 | X | FRE | @0 Porte pièce @5 08 |
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| C03 | 07 | X | ENG | @0 Work holder @5 08 |
|---|
| C03 | 07 | X | SPA | @0 Portapieza @5 08 |
|---|
| C03 | 08 | X | FRE | @0 Méthode multipoint @5 09 |
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| C03 | 08 | X | ENG | @0 Multipoint method @5 09 |
|---|
| C03 | 08 | X | SPA | @0 Método multipunto @5 09 |
|---|
| C03 | 09 | X | FRE | @0 Attache @5 10 |
|---|
| C03 | 09 | X | ENG | @0 Fastener @5 10 |
|---|
| C03 | 09 | X | SPA | @0 Atadura @5 10 |
|---|
| C03 | 10 | X | FRE | @0 Boucle réaction @5 11 |
|---|
| C03 | 10 | X | ENG | @0 Feedback @5 11 |
|---|
| C03 | 10 | X | SPA | @0 Retroalimentación @5 11 |
|---|
| C03 | 11 | X | FRE | @0 Résultat expérimental @5 12 |
|---|
| C03 | 11 | X | ENG | @0 Experimental result @5 12 |
|---|
| C03 | 11 | X | SPA | @0 Resultado experimental @5 12 |
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| C03 | 12 | X | FRE | @0 Système asservi @5 13 |
|---|
| C03 | 12 | X | ENG | @0 Feedback system @5 13 |
|---|
| C03 | 12 | X | SPA | @0 Servomecanismo @5 13 |
|---|
| C03 | 13 | X | FRE | @0 Réalité virtuelle @5 14 |
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| C03 | 13 | X | ENG | @0 Virtual reality @5 14 |
|---|
| C03 | 13 | X | SPA | @0 Realidad virtual @5 14 |
|---|
| C03 | 14 | X | FRE | @0 Commande force @5 15 |
|---|
| C03 | 14 | X | ENG | @0 Force control @5 15 |
|---|
| C03 | 14 | X | SPA | @0 Control fuerza @5 15 |
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| C03 | 15 | X | FRE | @0 Contrôleur @5 16 |
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| C03 | 15 | X | ENG | @0 Controller @5 16 |
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| C03 | 15 | X | SPA | @0 Supervisor @5 16 |
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| C03 | 16 | X | FRE | @0 Conception système @5 17 |
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| C03 | 16 | X | ENG | @0 System design @5 17 |
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| C03 | 16 | X | SPA | @0 Concepción sistema @5 17 |
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| C03 | 17 | X | FRE | @0 Essai @5 18 |
|---|
| C03 | 17 | X | ENG | @0 Test @5 18 |
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| C03 | 17 | X | SPA | @0 Ensayo @5 18 |
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| C03 | 18 | X | FRE | @0 Système mécanique @5 19 |
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| C03 | 18 | X | ENG | @0 Mechanical system @5 19 |
|---|
| C03 | 18 | X | SPA | @0 Sistema mecánico @5 19 |
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| C03 | 19 | X | FRE | @0 Tendon @5 20 |
|---|
| C03 | 19 | X | ENG | @0 Tendon @5 20 |
|---|
| C03 | 19 | X | SPA | @0 Tendón @5 20 |
|---|
| C03 | 20 | X | FRE | @0 Main @5 21 |
|---|
| C03 | 20 | X | ENG | @0 Hand @5 21 |
|---|
| C03 | 20 | X | SPA | @0 Mano @5 21 |
|---|
| C03 | 21 | X | FRE | @0 Modèle dynamique @5 22 |
|---|
| C03 | 21 | X | ENG | @0 Dynamic model @5 22 |
|---|
| C03 | 21 | X | SPA | @0 Modelo dinámico @5 22 |
|---|
| C03 | 22 | X | FRE | @0 Modèle non linéaire @5 23 |
|---|
| C03 | 22 | X | ENG | @0 Non linear model @5 23 |
|---|
| C03 | 22 | X | SPA | @0 Modelo no lineal @5 23 |
|---|
| N21 | | | | @1 108 |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies. Conference @2 6 @3 Boston MA USA @4 1999-09-19 |
|---|
|
|---|
Format Inist (serveur)
| NO : | PASCAL 00-0153467 INIST |
|---|
| ET : | Haptic control of the hand force feedback system |
|---|
| AU : | PRISCO (G. M.); ORTIZ (M.); BARBAGLI (F.); AVIZZANO (C. A.); BERGAMASCO (M.); STEIN (Matthew R.) |
|---|
| AF : | PERCRO, Scuola Superiore S.Anna, Via Carducci, 40/56127 Pisa/Italie (1 aut., 2 aut., 3 aut., 4 aut., 5 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | SPIE proceedings series; ISSN 1017-2653; Etats-Unis; Da. 1999; Vol. 3840; Pp. 76-87; Bibl. 8 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed. |
|---|
| CC : | 001D13D; 001D02D11 |
|---|
| FD : | Sensibilité tactile; Préhension; Manipulation; Homme; Abduction; Bridage; Porte pièce; Méthode multipoint; Attache; Boucle réaction; Résultat expérimental; Système asservi; Réalité virtuelle; Commande force; Contrôleur; Conception système; Essai; Système mécanique; Tendon; Main; Modèle dynamique; Modèle non linéaire |
|---|
| ED : | Tactile sensitivity; Gripping; Manipulation; Human; Abduction; Clamping; Work holder; Multipoint method; Fastener; Feedback; Experimental result; Feedback system; Virtual reality; Force control; Controller; System design; Test; Mechanical system; Tendon; Hand; Dynamic model; Non linear model |
|---|
| SD : | Sensibilidad tactil; Prension; Manipulación; Hombre; Abducción; Apriete; Portapieza; Método multipunto; Atadura; Retroalimentación; Resultado experimental; Servomecanismo; Realidad virtual; Control fuerza; Supervisor; Concepción sistema; Ensayo; Sistema mecánico; Tendón; Mano; Modelo dinámico; Modelo no lineal |
|---|
| LO : | INIST-21760.354000080084440080 |
|---|
| ID : | 00-0153467 |
|---|
Links to Exploration step
Pascal:00-0153467
Le document en format XML
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</seriesStmt><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Abduction</term>
<term>Clamping</term>
<term>Controller</term>
<term>Dynamic model</term>
<term>Experimental result</term>
<term>Fastener</term>
<term>Feedback</term>
<term>Feedback system</term>
<term>Force control</term>
<term>Gripping</term>
<term>Hand</term>
<term>Human</term>
<term>Manipulation</term>
<term>Mechanical system</term>
<term>Multipoint method</term>
<term>Non linear model</term>
<term>System design</term>
<term>Tactile sensitivity</term>
<term>Tendon</term>
<term>Test</term>
<term>Virtual reality</term>
<term>Work holder</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Sensibilité tactile</term>
<term>Préhension</term>
<term>Manipulation</term>
<term>Homme</term>
<term>Abduction</term>
<term>Bridage</term>
<term>Porte pièce</term>
<term>Méthode multipoint</term>
<term>Attache</term>
<term>Boucle réaction</term>
<term>Résultat expérimental</term>
<term>Système asservi</term>
<term>Réalité virtuelle</term>
<term>Commande force</term>
<term>Contrôleur</term>
<term>Conception système</term>
<term>Essai</term>
<term>Système mécanique</term>
<term>Tendon</term>
<term>Main</term>
<term>Modèle dynamique</term>
<term>Modèle non linéaire</term>
</keywords><front><div type="abstract" xml:lang="en">The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed.</div>
</front><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1017-2653</s0>
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</fA05><fA08 i1="01" i2="1" l="ENG"><s1>Haptic control of the hand force feedback system</s1>
</fA08><fA09 i1="01" i2="1" l="ENG"><s1>Telemanipulator and telepresence technologies VI : Boston MA, 19-20 September 1999</s1>
</fA09><fA11 i1="01" i2="1"><s1>PRISCO (G. M.)</s1>
</fA11><fA11 i1="02" i2="1"><s1>ORTIZ (M.)</s1>
</fA11><fA11 i1="03" i2="1"><s1>BARBAGLI (F.)</s1>
</fA11><fA11 i1="04" i2="1"><s1>AVIZZANO (C. A.)</s1>
</fA11><fA11 i1="05" i2="1"><s1>BERGAMASCO (M.)</s1>
</fA11><fA12 i1="01" i2="1"><s1>STEIN (Matthew R.)</s1>
<s9>ed.</s9>
</fA12><fA14 i1="01"><s1>PERCRO, Scuola Superiore S.Anna, Via Carducci, 40</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
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<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
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</fA45><fA47 i1="01" i2="1"><s0>00-0153467</s0>
</fA47><fA60><s1>P</s1>
<s2>C</s2>
</fA60><fA64 i1="01" i2="1"><s0>SPIE proceedings series</s0>
</fA64><fA66 i1="01"><s0>USA</s0>
</fA66><fC01 i1="01" l="ENG"><s0>The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D13D</s0>
</fC02><fC02 i1="02" i2="X"><s0>001D02D11</s0>
</fC02><fC03 i1="01" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>02</s5>
</fC03><fC03 i1="01" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>02</s5>
</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>02</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Préhension</s0>
<s5>03</s5>
</fC03><fC03 i1="02" i2="X" l="ENG"><s0>Gripping</s0>
<s5>03</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Prension</s0>
<s5>03</s5>
</fC03><fC03 i1="03" i2="X" l="FRE"><s0>Manipulation</s0>
<s5>04</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>Manipulation</s0>
<s5>04</s5>
</fC03><fC03 i1="03" i2="X" l="SPA"><s0>Manipulación</s0>
<s5>04</s5>
</fC03><fC03 i1="04" i2="X" l="FRE"><s0>Homme</s0>
<s5>05</s5>
</fC03><fC03 i1="04" i2="X" l="ENG"><s0>Human</s0>
<s5>05</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Hombre</s0>
<s5>05</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Abduction</s0>
<s5>06</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Abduction</s0>
<s5>06</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Abducción</s0>
<s5>06</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Bridage</s0>
<s5>07</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Clamping</s0>
<s5>07</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Apriete</s0>
<s5>07</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Porte pièce</s0>
<s5>08</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Work holder</s0>
<s5>08</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Portapieza</s0>
<s5>08</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Méthode multipoint</s0>
<s5>09</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Multipoint method</s0>
<s5>09</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Método multipunto</s0>
<s5>09</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Attache</s0>
<s5>10</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Fastener</s0>
<s5>10</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Atadura</s0>
<s5>10</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Boucle réaction</s0>
<s5>11</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Feedback</s0>
<s5>11</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Retroalimentación</s0>
<s5>11</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Résultat expérimental</s0>
<s5>12</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Experimental result</s0>
<s5>12</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Resultado experimental</s0>
<s5>12</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Système asservi</s0>
<s5>13</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Feedback system</s0>
<s5>13</s5>
</fC03><fC03 i1="12" i2="X" l="SPA"><s0>Servomecanismo</s0>
<s5>13</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Réalité virtuelle</s0>
<s5>14</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>14</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Realidad virtual</s0>
<s5>14</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Commande force</s0>
<s5>15</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>Force control</s0>
<s5>15</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>15</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Contrôleur</s0>
<s5>16</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Controller</s0>
<s5>16</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Supervisor</s0>
<s5>16</s5>
</fC03><fC03 i1="16" i2="X" l="FRE"><s0>Conception système</s0>
<s5>17</s5>
</fC03><fC03 i1="16" i2="X" l="ENG"><s0>System design</s0>
<s5>17</s5>
</fC03><fC03 i1="16" i2="X" l="SPA"><s0>Concepción sistema</s0>
<s5>17</s5>
</fC03><fC03 i1="17" i2="X" l="FRE"><s0>Essai</s0>
<s5>18</s5>
</fC03><fC03 i1="17" i2="X" l="ENG"><s0>Test</s0>
<s5>18</s5>
</fC03><fC03 i1="17" i2="X" l="SPA"><s0>Ensayo</s0>
<s5>18</s5>
</fC03><fC03 i1="18" i2="X" l="FRE"><s0>Système mécanique</s0>
<s5>19</s5>
</fC03><fC03 i1="18" i2="X" l="ENG"><s0>Mechanical system</s0>
<s5>19</s5>
</fC03><fC03 i1="18" i2="X" l="SPA"><s0>Sistema mecánico</s0>
<s5>19</s5>
</fC03><fC03 i1="19" i2="X" l="FRE"><s0>Tendon</s0>
<s5>20</s5>
</fC03><fC03 i1="19" i2="X" l="ENG"><s0>Tendon</s0>
<s5>20</s5>
</fC03><fC03 i1="19" i2="X" l="SPA"><s0>Tendón</s0>
<s5>20</s5>
</fC03><fC03 i1="20" i2="X" l="FRE"><s0>Main</s0>
<s5>21</s5>
</fC03><fC03 i1="20" i2="X" l="ENG"><s0>Hand</s0>
<s5>21</s5>
</fC03><fC03 i1="20" i2="X" l="SPA"><s0>Mano</s0>
<s5>21</s5>
</fC03><fC03 i1="21" i2="X" l="FRE"><s0>Modèle dynamique</s0>
<s5>22</s5>
</fC03><fC03 i1="21" i2="X" l="ENG"><s0>Dynamic model</s0>
<s5>22</s5>
</fC03><fC03 i1="21" i2="X" l="SPA"><s0>Modelo dinámico</s0>
<s5>22</s5>
</fC03><fC03 i1="22" i2="X" l="FRE"><s0>Modèle non linéaire</s0>
<s5>23</s5>
</fC03><fC03 i1="22" i2="X" l="ENG"><s0>Non linear model</s0>
<s5>23</s5>
</fC03><fC03 i1="22" i2="X" l="SPA"><s0>Modelo no lineal</s0>
<s5>23</s5>
</fC03><fN21><s1>108</s1>
</fN21><pR><fA30 i1="01" i2="1" l="ENG"><s1>Telemanipulator and telepresence technologies. Conference</s1>
<s2>6</s2>
<s3>Boston MA USA</s3>
<s4>1999-09-19</s4>
</fA30><server><NO>PASCAL 00-0153467 INIST</NO>
<ET>Haptic control of the hand force feedback system</ET>
<AU>PRISCO (G. M.); ORTIZ (M.); BARBAGLI (F.); AVIZZANO (C. A.); BERGAMASCO (M.); STEIN (Matthew R.)</AU>
<AF>PERCRO, Scuola Superiore S.Anna, Via Carducci, 40/56127 Pisa/Italie (1 aut., 2 aut., 3 aut., 4 aut., 5 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>SPIE proceedings series; ISSN 1017-2653; Etats-Unis; Da. 1999; Vol. 3840; Pp. 76-87; Bibl. 8 ref.</SO>
<LA>Anglais</LA>
<EA>The Hand Force Feedback System is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The present paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as haptic interface for Virtual Environments or Telemanipulation, are designed and tested experimentally. Finally the experimental results are discussed.</EA>
<CC>001D13D; 001D02D11</CC>
<FD>Sensibilité tactile; Préhension; Manipulation; Homme; Abduction; Bridage; Porte pièce; Méthode multipoint; Attache; Boucle réaction; Résultat expérimental; Système asservi; Réalité virtuelle; Commande force; Contrôleur; Conception système; Essai; Système mécanique; Tendon; Main; Modèle dynamique; Modèle non linéaire</FD>
<ED>Tactile sensitivity; Gripping; Manipulation; Human; Abduction; Clamping; Work holder; Multipoint method; Fastener; Feedback; Experimental result; Feedback system; Virtual reality; Force control; Controller; System design; Test; Mechanical system; Tendon; Hand; Dynamic model; Non linear model</ED>
<SD>Sensibilidad tactil; Prension; Manipulación; Hombre; Abducción; Apriete; Portapieza; Método multipunto; Atadura; Retroalimentación; Resultado experimental; Servomecanismo; Realidad virtual; Control fuerza; Supervisor; Concepción sistema; Ensayo; Sistema mecánico; Tendón; Mano; Modelo dinámico; Modelo no lineal</SD>
<LO>INIST-21760.354000080084440080</LO>
<ID>00-0153467</ID>
</server>
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