Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback
Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback
复制标题
具有皮肤和动觉力反馈的两指抓取模拟
DOI：
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
D. Prattichizzo
中科院分区：
文献类型：
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作者：
C. Pacchierotti;Francesco Chinello;M. Malvezzi;L. Meli;D. Prattichizzo
本文介绍了一种双指抓取的实验。考虑的任务是钉在洞中，模拟力反馈是皮肤或动觉。动觉反馈是由商业触觉设备提供的，而皮肤触觉反馈是由本文提出的一种新的触觉显示器提供的，该显示器允许在指尖呈现广泛的接触力。该设备由一个可移动的表面组成，它与指尖互动，由三根电线直接连接到放置在显示器接地结构上的电机来驱动。这项工作总结了所提出的显示器的设计，并给出了描述其运动学和动力学的主要关系。结果表明，与单纯的视觉反馈相比，皮肤反馈表现出了更好的表现。
This paper presents an experiment of two finger grasping. The task considered is the peg-in-hole and the simulated force feedback is cutaneous or kinesthetic. The kinesthetic feedback is provided by a commercial haptic device while the cutaneous one is provided by a new haptic display proposed in this work, which allows to render at the fingertip a wide range of contact forces. The device consists of a mobile surface, which interacts with the fingertip, actuated by three wires directly connected to the motors placed on the grounded structure of the display. This work summarizes the design of the proposed display and presents the main relationships which describe its kinematics and dynamics. Results showed that cutaneous feedback exhibits improved performances when compared to visual feedback only.
DOI：
10.1115/1.2795945
发表时间：
1996-02-01
影响因子：
1.7
作者：
Srinivasan, MA;Dandekar, K
通讯作者：
Dandekar, K