Modular Multi-finger Haptic Device: Mechanical Design, Controller and Applications

In this chapter, a scalable, multi-finger haptic device based on modular configuration is presented. The mechanical design is based on a modular configuration with a redundant degree of freedom in which each module represents one finger. Mechanical configuration has been optimized to provide a device, which is as transparent as possible to the user. A general description of the control requirements and the implementation to control these types of devices are presented. Applications of modular multi-finger haptic devices include advanced virtual manipulation and simulators for training precise manual tasks. In this chapter, applications for precise manipulation including haptic and visual feedback are presented. Three scenarios have been developed in order to analyze human factors, train manual manipulations and test the performance of the system: (i) a simulator to train physiotherapists to do rehabilitation procedures, (ii) manipulation of fragile objects, and (iii) collaborative manipulation to lift an object between two users.

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