Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger
Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger
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设计和开发具有食指主动和被动多点力反馈的 4 DOF 便携式触觉界面的两个概念
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
T. Tomiyama
中科院分区：
文献类型：
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作者：
M. Lelieveld;T. Maeno;T. Tomiyama
本研究旨在开发一种轻便的20自由度触觉主手。在主从系统中，主手被用作触觉接口。主从系统由与虚拟世界通信的触觉接口或用于遥操作的末端执行器组成，例如机械手。拇指和手指通常被建模为四自由度串联机构。到目前为止，还没有开发出20个自由度的主手，可以在完全的屈伸运动中对手指指骨施加垂直力。本文介绍了两种便携式食指四自由度触觉接口的设计与开发。概念A是一个静态平衡的触觉接口，带有滚动连杆机构(RLM)和一个集成的每个自由度的恒力矩弹簧，用于垂直和主动力反馈。概念B在RLM使用机械带式制动器进行被动力反馈。采用系统的Pahl和Beitz设计方法作为迭代设计方法。
This research aims to develop a portable haptic master hand with 20 degrees of freedom (DOF). Master hands are used as haptic interfaces in master-slave systems. A master-slave system consists of a haptic interface that communicates with a virtual world or an end-effector for tele-operation, such as a robot hand. The thumb and fingers are usually modeled as a serial linkage mechanism with 4 DOF. So far, no 20 DOF master hands have been developed that can exert perpendicular forces on the finger phalanges during the complete flexion and extension motion. In this paper, the design and development of two concepts of a portable 4 DOF haptic interface for the index finger is presented. Concept A is a statically balanced haptic interface with a rolling-link mechanism (RLM) and an integrated constant torque spring per DOF for perpendicular and active force feedback. Concept B utilizes a mechanical tape brake at the RLM for passive force feedback. The systematic Pahl and Beitz design approach is used as an iterative design method.