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TECHNICAL PAPERS

Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping

[+] Author and Article Information
Scott L. Springer

University of Wisconsin–Stout, Department of Technology, P.O. Box 790, Menomonie, Wisconsin 54751e-mail: springers@uwstout.edu

Nicola J. Ferrier

University of Wisconsin–Madison, Department of Mechanical Engineering, 1513 University Avenue, Madison, Wisconsin 53706e-mail: ferrier@engr.wisc.edu

J. Mech. Des 124(2), 277-283 (May 16, 2002) (7 pages) doi:10.1115/1.1470493 History: Received January 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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References

Figures

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Representation of finger motion by a single variable
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Six bar linkage formed when operator wears haptic mechanism
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Positions of six bar chain during grasp
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Rotation of distal phalange during force application
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Hand mounted mechanism, measurement and force display
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Position control variables
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Subjects’ perception of wall models
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Average error reduction in edge detection (degrees)
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Average error reduction in edge detection (percent)
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Average reduction in oscillation amplitude (degrees)
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Average reduction in oscillation amplitude (percent)

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