Design, Development, and Evaluation of a Pinch–Grasp Haptic Interface

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.

[1]  Takashi Maeno,et al.  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 , 2006 .

[2]  R. Klatzky,et al.  Haptic perception: A tutorial , 2009, Attention, perception & psychophysics.

[3]  Saeid Nahavandi,et al.  Characterising a novel interface for event-based haptic grasping , 2009, RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication.

[4]  Jorge Barrio,et al.  Segmentation of Bimanual Virtual Object Manipulation Tasks Using Multifinger Haptic Interfaces , 2011, IEEE Transactions on Instrumentation and Measurement.

[5]  J. Blake,et al.  Haptic Glove With MR Brakes for Virtual Reality , 2009, IEEE/ASME Transactions on Mechatronics.

[6]  Alessandro Panarese,et al.  Human ability to discriminate direction of three-dimensional force stimuli applied to the finger pad. , 2011, Journal of neurophysiology.

[7]  A.J. Fleming.  Nanopositioning System With Force Feedback for High-Performance Tracking and Vibration Control , 2010, IEEE/ASME Transactions on Mechatronics.

[8]  Ryuichiro Yamane,et al.  Smart mouse: 5-DOF haptic hand master using magneto-rheological fluid actuators , 2009 .

[9]  Vincent Hayward,et al.  Performance Measures for Haptic Interfaces , 1996 .

[10]  Antonio Frisoli,et al.  Kinematic Design of a Two Contact Points Haptic Interface for the Thumb and Index Fingers of the Hand , 2007 .

[11]  B. Hannaford,et al.  Surgical robotics : systems, applications and visions , 2011 .

[12]  G. Jansson,et al.  Haptic identification of objects with different numbers of fingers , 2004 .

[13]  M Mehrtash,et al.  Bilateral Macro–Micro Teleoperation Using Magnetic Levitation , 2011, IEEE/ASME Transactions on Mechatronics.

[14]  Keehoon Kim,et al.  On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics , 2010, IEEE/ASME Transactions on Mechatronics.

[15]  Vincent Hayward,et al.  Do it yourself haptics: part I , 2007, IEEE Robotics & Automation Magazine.

[16]  Karon E. MacLean,et al.  Friction Identification for Haptic Display , 1999, Dynamic Systems and Control.

[17]  Allison M. Okamura,et al.  Reality-based models for vibration feedback in virtual environments , 2001 .

[18]  Saeid Nahavandi,et al.  Extending Haptic Device Capability for 3D Virtual Grasping , 2008, EuroHaptics.

[19]  Dennis Allerkamp,et al.  Haptic two-finger contact with textiles , 2008, The Visual Computer.

[20]  Grigore C. Burdea,et al.  The Rutgers Master II-new design force-feedback glove , 2002 .

[21]  Shuang Wang,et al.  A Resistance Compensation Control Algorithm for a Cable-Driven Hand Exoskeleton for Motor Function Rehabilitation , 2010, ICIRA.