A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback
A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback
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DOI：
10.1109/lra.2022.3144798
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Okamura, Allison M.
中科院分区：
文献类型：
--
作者：
Williams, Sophia R.;Suchoski, Jacob M.;Okamura, Allison M.
我们提出了使用折纸制造技术创建的手指安装的4度自由（DOF）触觉装置。 4-DOF设备使用平行的运动学机制，能够将正常，剪切和扭转的触觉反馈传递到指尖。传统的机器人制造方法不太适合设计小型机器人设备，因为它具有挑战性且昂贵，生产小型，低摩擦的接头。我们的设备使用折纸制造原理来降低复杂性和设备足迹。我们表征设备的带宽，工作区和力输出。该设备的功能，尤其是自由度的扭转程度，在虚拟现实的情况下得到了证明。我们的结果表明，该设备可以在4个DOF中提供触觉反馈，其有效的操作工作区为0.64 cm（3），每个位置+/- 30度旋转。当隔离到单个dole时，该设备的最大力和扭矩可以在X-，Y-，Z-和Theta-directions中施加+/- 1.0 N，+/- 1.0 N，+/- 1.25 N，1.6 N，和+/- 5 N. mm;该设备的操作带宽为9 Hz。
We present a finger-mounted 4-degree-of-freedom (DoF) haptic device created using origami fabrication techniques. The 4-DoF device uses a parallel kinematic mechanism and is capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and device footprint. We characterize the bandwidth, workspace, and force output of the device. The capabilities of the device, particularly the torsion degree of freedom, are demonstrated in a virtual reality scenario. Our results show that the device can deliver haptic feedback in 4 DoFs with an effective operational workspace of 0.64 cm(3) with +/- 30 degrees rotation at every location. When isolated to a single Dole, the maximum force and torque the device can apply in the x-, y-, z-, and theta-directions are +/- 1.0 N, +/- 1.25 N, 1.6 N, and +/- 5 N. mm; the device has an operating bandwidth of 9 Hz.