Design, Development, and Evaluation of a Pinch–Grasp Haptic Interface
作者： Zoran Najdovski , Saeid Nahavandi , Toshio Fukuda
DOI: 10.1109/TMECH.2012.2218662
关键词: Haptic technology 、 GRASP 、 Simulation 、 Teleoperation 、 Contact force 、 Torque 、 Interface (computing) 、 Engineering 、 Transparency (human–computer interaction) 、 Workspace
摘要: Interaction with virtual or teleoperated environments requires contact objects on a multipoint level. We describe the design of pinch-grasp hand interface device for use as grasping mechanism to complement haptic interfaces. To preserve suitable level transparency human-computer interaction, this novel is designed high-resolution forces, while centered around lightweight structure. This functionality renders scalable and adaptable wide range structures force requirements. present an optimal configuration interface, which produces bidirectional forces operator's fingers rotational wrist through cable drive system. The characterized commercial demonstration sustained peak performance also workspace utilization. dynamic experimentally determined, frequency response identified illustrate its resolution.
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