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Design, development, and evaluation of a pinch-grasp haptic interface

journal contribution
posted on 2012-10-05, 00:00 authored by Zoran NajdovskiZoran Najdovski, Saeid Nahavandi, T Fukuda
Interaction with virtual or teleoperated environments requires contact with objects on a multipoint level. We describe the design of a pinch--grasp hand interface device for use as a grasping mechanism to complement haptic interfaces. To preserve a suitable level of transparency for human--computer interaction, this novel interface is designed for high-resolution contact forces, while centered around a lightweight structure. This functionality renders the device scalable and adaptable to a wide range of haptic interface structures and force level requirements. We present an optimal configuration for a pinch--grasp interface, which produces bidirectional forces to an operator's fingers and a rotational force to the wrist through a cable drive system. The device is characterized for use on a commercial haptic interface through demonstration of sustained peak performance and also workspace utilization. The dynamic performance of the pinch--grasp interface is experimentally determined, and the frequency response is identified to illustrate its contact force resolution.

History

Journal

IEEE/ASME transactions on mechatronics

Volume

19

Issue

1

Pagination

45 - 54

Publisher

IEEE

Location

Piscataway, N. J.

ISSN

1083-4435

eISSN

1941-014X

Language

eng

Publication classification

C1 Refereed article in a scholarly journal; C Journal article