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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

Burdea, G., 1996, Force and Touch Feedback for Virtual Reality, John Wiley and Sons, New York, NY.
Shimoga, K., Murray, A., and Khosla, P., 1996, A Touch Display System for Interaction with Remote and Virtual Environments, Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 58, ASME, New York, NY, pp. 523–529.
Colgate, J., Grafing, P., Stanley, C., and Schenkel, G., 1993, Implementation of Stiff Virtual Walls in Force Reflecting Interfaces, Proceedings of Virtual Reality Annual International Symposium, IEEE Neural Networks Council, Piscataway, NJ, pp. 202–215.
Kazerooni, H., 1993, Human Induced Instability in Haptic Interfaces, Proceedings of the 1993 ASME Winter Annual Meeting, DSC-Vol. 49, pp. 15–27.
Klatzky, R., Purdy, K., and Lederman, S., 1996, When is Vision Useful During a Familiar Manipulatory Task ?, Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 58, ASME, New York, NY, pp. 561–566.
Schulteis, T., Dupont, P., Millman, P., and Howe, R., 1996, Automatic Identification of Remote Environments, Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 58, ASME, New York, NY, pp. 451–458.
Lawrence, D., Salada, M., Lucy, P., and Doughtery, A., 1996, Quantitative Experimental Analysis of Transparency and Stability in Haptic Interfaces, Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 58, ASME, New York, NY, pp. 441–449.
Springer, S., and Ferrier, N., 1999, A New Method for Design and Control of Haptic Interfaces for Display of Rigid Surfaces, Presented at the 1999 ASME International Mechanical Engineering Congress and Exposition, November 1999, Nashville, TN, ASME, New York, NY.
Salcudean, S. E., and Vlaar, T. D., 1994, On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Device, Proceedings of the 1994 ASME International Mechanical Engineering Congress and Exposition, DSC-Vol. 55, ASME, New York, NY, pp. 303–309.
Okamura, A. M., Dennerlein, J. T., and Howe, R. D., 1998, Vibration Feedback Models for Virtual Environments, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2485–2490.
Moreya, M., and Hannaford, B., 1998, A Practical measure of Dynamic Response of Haptic Devices, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, 1-369-374.
Fifth Dimension web page, http://www.5dt.com.
Springer, S., and Gadh, R., 1997, Haptic Feedback for Virtual Reality Computer Aided Design, Presented at the 1997 ASME International Mechanical Engineering Congress and Exposition, November 1997, Dallas, TX, ASME, New York, NY.
Kramer, J., 1993, Force Feedback and Textures Simulating Interface Device, U.S. Patent No. 5,184,319, USPO.
Virtual Technologies, Inc., 1997, company web page http://www.virtex.com
Springer,  S., and Gadh,  R., 1996, State-of-the-art Virtual Reality Hardware for Computer-aided-design, Journal of Intelligent Manufacturing, 7, pp. 457–465.
Cutkosky, M., and Howe, R., 1990, “Human Grasp Choice and Robotic Grasp Analysis,” in S. Venkataraman and T. Iberall, Editors, Dextrous Robotic Hands, Springer Verlag, New York, pp. 5–31.
Ascension Company web page, http://www.ascension-tech.com/.
Springer, S., 2000, “Haptic Display for Tele-robotics and Virtual Reality,” Doctoral dissertation at the University of Wisconsin-Madison.
Springer, S., and Ferrier, N., 2000, DECAFF: Experimental Study on Human Haptic Perception, Presented at the 2000 ASME International Mechanical Engineering Congress and Exposition, November 2000, Orlando, FL, ASME, New York, NY.

Figures

Grahic Jump Location
Representation of finger motion by a single variable
Grahic Jump Location
Six bar linkage formed when operator wears haptic mechanism
Grahic Jump Location
Positions of six bar chain during grasp
Grahic Jump Location
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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