Development of a Multi-Point Force Feedback Haptic Device
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Accession number;05A0960576
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| Title;Development of a Multi-Point Force Feedback Haptic Device |
| Author;
KODA YUTA
(Keio Univ., JPN)
MAENO TAKASHI
(Keio Univ., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.1P1-N-038(2005)
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| Figure&Table&Reference;FIG.4, REF.1 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;In this paper, we proposed the haptic device for human hand with simple multi-point force feedback mechanism. The developed device is capable of measuring 4 degrees of freedom of finger joint angles, and providing force feedback on 3 segments of the finger. The device solved the conventional problems of previously developed devices such as complexity of mechanism and control. To develop the force feedback mechanism, we focused on anatomical knowledge and physiology. By applying the unnecessary counter force on dorsal side of the finger, where sensitivity of pressure is relatively low, we alleviated the influence of the counter force. To verify the effectiveness of the developed device, we conducted 3 experiments: angle measurement, force feedback and virtual grasping. The result shows that the developed device has the ability to grasp the object using all 3 segments of the finger. (author abst.) |
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