This paper presents an integrated approach to the kinematic design of a portable haptic interface for the thumb and index fingers of the hand. The kinematics of the haptic interface was selected on the basis of constructive reasons, design constraints, and usability issues, and in order to guarantee the best level of performance with the lowest encumbrance and weight over the workspace of the hand. The kinematic dimensioning was the result of a multi-objective optimization of several performance parameters, such as minimum required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities based on screw theory was formulated to point out both hand postures and movements associated with weaker performance. The results of the paper were used to build the prototype of a new portable haptic interface with two contact points, whose main design features are also specifically presented.
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Kinematic Design of a Two Contact Points Haptic Interface for the Thumb and Index Fingers of the Hand
Antonio Frisoli,
Antonio Frisoli
Scuola Superiore Sant’Anna,
e-mail: a.frisoli@sssup.it
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
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Francesco Simoncini,
Francesco Simoncini
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
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Massimo Bergamasco,
Massimo Bergamasco
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
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Fabio Salsedo
Fabio Salsedo
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
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Antonio Frisoli
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italye-mail: a.frisoli@sssup.it
Francesco Simoncini
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
Massimo Bergamasco
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
Fabio Salsedo
Scuola Superiore Sant’Anna,
PERCRO
, Polo Sant’Anna Valdera, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, ItalyJ. Mech. Des. May 2007, 129(5): 520-529 (10 pages)
Published Online: May 25, 2006
Article history
Received:
December 16, 2005
Revised:
May 25, 2006
Citation
Frisoli, A., Simoncini, F., Bergamasco, M., and Salsedo, F. (May 25, 2006). "Kinematic Design of a Two Contact Points Haptic Interface for the Thumb and Index Fingers of the Hand." ASME. J. Mech. Des. May 2007; 129(5): 520–529. https://doi.org/10.1115/1.2712219
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