Design and Nonlinear Control of a Haptic Glove for Virtual Palpation

This paper presents the design and kinematic analysis of a Haptic Glove for medical elastographic imaging virtual palpation. Of the 12 degrees of freedom present in the index finger, middle finger, and thumb of the hand, the design constrains 5 and controls 6 with pneumatic air cylinder actuators, allowing uncontrolled, but measured motion in the remaining degree of freedom. Nearly linear bijective transfer functions between the actuator positions and joint angles are found in closed form for all 6 actuated joints. A nonlinear force and stiffness controller based on backstepping-sliding mode algorithm was designed and implemented.

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