Design, development, and evaluation of a pinch-grasp haptic interface

Najdovski, Zoran, Nahavandi, Saeid and Fukuda, Toshio 2012, Design, development, and evaluation of a pinch-grasp haptic interface, IEEE/ASME transactions on mechatronics, vol. 19, no. 1, pp. 45-54.

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Title Design, development, and evaluation of a pinch-grasp haptic interface
Author(s) Najdovski, Zoran
Nahavandi, Saeid
Fukuda, Toshio
Journal name IEEE/ASME transactions on mechatronics
Volume number 19
Issue number 1
Start page 45
End page 54
Total pages 10
Publisher IEEE
Place of publication Piscataway, N. J.
Publication date 2012-10-05
ISSN 1083-4435
1941-014X
Keyword(s) device dynamics
grasping
haptic interface
multipoint interaction
Summary 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.
Language eng
Field of Research 100602 Input, Output and Data Devices
Socio Economic Objective 970110 Expanding Knowledge in Technology
HERDC Research category C1.1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30049587

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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