A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction
A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction
复制标题
用于虚拟交互的新型 3RRS 可穿戴指尖皮肤设备
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
D. Prattichizzo
中科院分区：
文献类型：
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作者：
Francesco Chinello;C. Pacchierotti;M. Malvezzi;D. Prattichizzo
我们提出了一种新型的3RRS可穿戴指尖设备。它是由一个静态的上半身和一个移动的末端执行器。上体位于手指的指甲侧，支撑三个小型伺服电机，移动的末端执行器与指腹接触。这两个部分由三个铰接腿连接，由电机驱动。末端执行器可以向用户指尖移动并旋转它来模拟与任意方向表面的接触。此外，放置在末端执行器下方的振动触觉电机将振动传递到指尖。每条腿的两个转动关节的轴线是平行的，使得它构成2-DoF平面铰接机构，将每个球形关节的中心的运动约束在相对于上身体固定的平面上。因此，移动的末端执行器相对于身体具有3-DoF。申报器械重量为25 g，尺寸为355048 mm。
We present a novel 3RRS wearable fingertip device. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three small servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the users fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip. The axes of the two revolute joints of each leg are parallel, so that it constitutes a 2-DoF planar articulated mechanism, constraining the motion of the center of each spherical joint on a plane fixed with respect to the upper body. The mobile end-effector has therefore 3-DoF with respect to the body. The proposed device weights 25 g for 355048 mm dimensions.