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RESEARCH PAPERS

Kinematic Design of a Two Contact Points Haptic Interface for the Thumb and Index Fingers of the Hand

[+] Author and Article Information
Antonio Frisoli

Scuola Superiore Sant’Anna, PERCRO, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italya.frisoli@sssup.it

Francesco Simoncini, Massimo Bergamasco, Fabio Salsedo

Scuola Superiore Sant’Anna, PERCRO, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy

J. Mech. Des 129(5), 520-529 (May 25, 2006) (10 pages) doi:10.1115/1.2712219 History: Received December 16, 2005; Revised May 25, 2006

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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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

A general scheme of the mechanism

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Figure 2

Side (top) and slanted (bottom) view of the tendon transmission (18)

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Figure 3

The kinematics of each finger mechanism

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Figure 4

Parameters used for describing the positioning of the system on the forearm

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Figure 5

The kinematic model of the hand

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Figure 6

Geometric interpretation of singularities for the case a1≅0

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Figure 7

The CAD model of the system in a singularity condition

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Figure 8

The movement of flexion–extension of the wrist associated to the angle αw

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Figure 9

The workspace αW as a function of L1i for thumb (gray line with triangle markers) and index (black line with diamond markers) fingers for different values of GII=5 (solid line with filled markers) and GII=10 (dashed line with unfilled markers)

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Figure 10

Stiffness (gray line with circle markers) and maximum torque (black line with square markers) for the index finger for different values of GII=5 (solid line with filled markers) and GII=10 (dashed line with unfilled markers)

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Figure 11

Stiffness (gray line with circle markers) and maximum torque (black line with square markers) for the thumb finger for different values of GII=5 (solid line with filled markers) and GII=10 (dashed line with unfilled markers)

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Figure 12

The prototype of the system

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