This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented.
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November 2013
Research-Article
Haptic Hand Exoskeleton for Precision Grasp Simulation
Marco Fontana,
Marco Fontana
Assistant Professor
e-mail: m.fontana@sssup.it
e-mail: m.fontana@sssup.it
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Salsedo Fabio,
Simone Marcheschi,
Simone Marcheschi
Research Fellow
e-mail: s.marcheschi@sssup.it
e-mail: s.marcheschi@sssup.it
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Massimo Bergamasco
Massimo Bergamasco
Full Professor
e-mail: m.bergamasco@sssup.it
PERCRO Laboratory,
TeCIP Institute,
Scuola Superiore Sant'Anna,
e-mail: m.bergamasco@sssup.it
PERCRO Laboratory,
TeCIP Institute,
Scuola Superiore Sant'Anna,
Piazza Martiri della Libertà 33
,Pisa 56127
, Italy
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Marco Fontana
Assistant Professor
e-mail: m.fontana@sssup.it
e-mail: m.fontana@sssup.it
Salsedo Fabio
Senior Researcher
e-mail: f.salsedo@sssup.it
e-mail: f.salsedo@sssup.it
Simone Marcheschi
Research Fellow
e-mail: s.marcheschi@sssup.it
e-mail: s.marcheschi@sssup.it
Massimo Bergamasco
Full Professor
e-mail: m.bergamasco@sssup.it
PERCRO Laboratory,
TeCIP Institute,
Scuola Superiore Sant'Anna,
e-mail: m.bergamasco@sssup.it
PERCRO Laboratory,
TeCIP Institute,
Scuola Superiore Sant'Anna,
Piazza Martiri della Libertà 33
,Pisa 56127
, Italy
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 18, 2011; final manuscript received June 3, 2013; published online October 7, 2013. Assoc. Editor: Andreas Mueller.
J. Mechanisms Robotics. Nov 2013, 5(4): 041014 (9 pages)
Published Online: October 7, 2013
Article history
Received:
July 18, 2011
Revision Received:
June 3, 2013
Citation
Fontana, M., Fabio, S., Marcheschi, S., and Bergamasco, M. (October 7, 2013). "Haptic Hand Exoskeleton for Precision Grasp Simulation." ASME. J. Mechanisms Robotics. November 2013; 5(4): 041014. https://doi.org/10.1115/1.4024981
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