Mechanical Design of a Haptic Interface for the Hand

This paper presents an integrated approach to the mechanical design of a haptic interface for the hand. The presented approach evaluates the performance of the mechanism functionally to the task to be executed. A kinematics model of the hand is introduced in order to specifically characterize the influence of hand movements on the performance of the mechanism. After the identification of critical factors, the dimensions of the mechanism have been optimized as a function of them. A geometrical approach is presented to solve the Inverse Kinematic Problem and the singularity analysis.

[1]  Hyoukryeol Choi,et al.  Double active universal joint (DAUJ): robotic joint mechanism for human-like motions , 2001, IEEE Trans. Robotics Autom..

[2]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[3]  P. Coiffet,et al.  On grasp synthesis and planning of multifingered robot hands for a telemanipulation task , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[4]  K. H. Hunt,et al.  Kinematic geometry of mechanisms , 1978 .

[5]  John Kenneth Salisbury.  Teleoperator hand design issues , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[6]  T J Armstrong,et al.  A kinematic model of the human hand to evaluate its prehensile capabilities. , 1992, Journal of biomechanics.

[7]  Massimo Bergamasco.  Force Replication to the Human Operator: The Development of Arm and Hand Exoskeletons as Haptic Interfaces , 1996 .

[8]  G Jansson,et al.  Basic issues concerning visually impaired people's use of haptic displays , 2000 .

[9]  Septimiu E. Salcudean,et al.  Fast constrained global minimax optimization of robot parameters , 1998, Robotica.