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- Title
Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation.
- Authors
López, Javier; Breñosa, Jose; Galiana, Ignacio; Ferre, Manuel; Giménez, Antonio; Barrio, Jorge
- Abstract
This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.
- Subjects
VIRTUAL machine systems; HAPTIC devices; VIRTUAL design; MULTIDISCIPLINARY design optimization; ENGINEERING design; MECHANICAL engineering
- Publication
Journal of Mechanical Engineering / Strojniški Vestnik, 2012, Vol 58, Issue 7/8, p431
- ISSN
0039-2480
- Publication type
Article
- DOI
10.5545/sv-jme.2011.141