Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation

López Martínez, Javier and Breñosa Martínez, José Manuel and Galiana Bujanda, Ignacio and Ferre Pérez, Manuel and Giménez Fernández, Antonio and Barrio Gragera, Jorge (2012). Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation. "Strojniki vestnik - Journal of Mechanical Engineering", v. 58 (n. 7-8); pp. 431-443. ISSN 0039-2480. https://doi.org/10.5545/sv-jme.2011.141.

Description

Title: Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation
Author/s:
  • López Martínez, Javier
  • Breñosa Martínez, José Manuel
  • Galiana Bujanda, Ignacio
  • Ferre Pérez, Manuel
  • Giménez Fernández, Antonio
  • Barrio Gragera, Jorge
Item Type: Article
Título de Revista/Publicación: Strojniki vestnik - Journal of Mechanical Engineering
Date: 2012
ISSN: 0039-2480
Volume: 58
Subjects:
Freetext Keywords: Haptic, multifinger, virtual manipulation
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.

More information

Item ID: 15801
DC Identifier: http://oa.upm.es/15801/
OAI Identifier: oai:oa.upm.es:15801
DOI: 10.5545/sv-jme.2011.141
Official URL: http://www.sv-jme.eu/archive/sv-jme-volume-2012/sv-jme-58-78-2012/
Deposited by: Memoria Investigacion
Deposited on: 01 Dec 2013 09:24
Last Modified: 22 Feb 2017 17:28
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