Design and Optimization of a Five-Finger Haptic Glove Mechanism

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Zhou Ma ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Force Feedback ◽  
Maximum Output ◽  
Force Transmission ◽  
Force Output ◽  
Link Length ◽  
Design And Optimization ◽  
Natural Motion ◽  
Bare Hand ◽  
Output Force ◽  
Future Potential

This paper describes the design and optimization of a novel five-finger haptic glove mechanism, which uses a worm-geared motor and an antagonistically routed cable mechanism at each finger as both active and passive force display actuators. Existing haptic gloves either restrict the natural motion and maximum output force of the hand or are bulky and heavy. In order to tackle these challenges, the five-finger haptic glove is designed to minimize the size and weight and maximize the workspace and force output range of the glove. The glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. This paper describes the mechatronic design of the glove and the method to optimize the link length with the purpose of enhancing workspace and the force transmission ratio. Simulation and experimental results are reported, showing the future potential of the proposed system in haptic applications and rehabilitation therapy.

scholarly journals Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7489
Author(s):  
Hu Shi ◽  
Boyang Zhang ◽  
Xuesong Mei ◽  
Qichun Song
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Impedance Control ◽  
Three Dimensional ◽  
Surgical Instruments ◽  
Force Output ◽  
Software Environment ◽  
Force Detection ◽  
Academic Field ◽  
Learning Machine

Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.

A New Inertia-Based Linear Stepper Motor for Micro-Surgical Procedures

1998 ◽  
Author(s):  
Raed N. Rizq ◽  
David J. Peichel ◽  
David R. Wulfman ◽  
Arthur G. Erdman ◽  
Dennis L. Polla
Keyword(s):  
Stepper Motor ◽  
Maximum Output ◽  
Total Displacement ◽  
Output Force ◽  
Mems Technology ◽  
Surgical Device ◽  
Consistent Performance ◽  
Precision Motion ◽  
Small Implants ◽  
Device Test

Abstract A new hand held surgical device intended to aid physicians in microsurgery is reported. This device provides a means for delivering small implants through the use of a precision motion linear stepper motor fabricated from silicon and piezoelectric components. The stepper motor described here utilizes the inertial properties of a moving mass as part of the actuation process. Micro Electromechanical Systems-based (MEMS) technology is used in building the device. Test instruments have delivered over fifty implants with consistent performance. Typically the test instruments have attained 1.2 mm/s advancement speeds against 3 Newton resistance loads, a maximum output force of 4.6 Newtons, and maximum total displacement of 38 mm.

Development of 5mm-Trocar Laparoscopic Forceps With Mechanical Force Feedback

2001 ◽  
Author(s):  
Albert J. van der Pijl ◽  
Just L. Herder
Keyword(s):  
Direct Contact ◽  
Mechanical Characteristics ◽  
Force Feedback ◽  
Mechanical Efficiency ◽  
Transmission Characteristic ◽  
Clinical Testing ◽  
Force Transmission ◽  
Low Friction ◽  
Grasping Forces ◽  
Linear Force

Abstract In minimally invasive surgery, surgeons are deprived of direct contact with the patient’s tissue. All manipulation, including diagnostic palpation, is carried out via long and slender instruments, inserted through small trocars inserted in the skin. Due to poor mechanical characteristics, such as internal friction, backlash, and non-linear force transmission functions, current instruments allow only marginal force feedback. Consequently, surgeons lack a major source of vital information, resulting in reduced safety and grasping forces far greater than necessary. Previous research lead to the design of a 10mm-trocar grasper with low friction and an outstanding force transmission characteristic. The present study was conducted to develop this prototype into a clinically applicable instrument which can be used in 5mm-trocar therapy, by redesigning the mechanism while maintaining the excellent mechanical characteristics. This resulted in a clinical prototype, still according the patented rolling link design but in a different embodiment, now also matching the additional specifications. Mechanical testing showed that the mechanical efficiency of the 5mm-trocar version is as high as in the original version. The 5-mm-version will now be used for further optimization and clinical testing.

Model Mediated Telemanipulation

2006 ◽  
Author(s):  
Probal Mitra ◽  
Gu¨nter Niemeyer
Keyword(s):  
Force Feedback ◽  
Sensory Information ◽  
Virtual Model ◽  
Basic Principles ◽  
Natural Motion ◽  
New Information ◽  
Remote Environment ◽  
The Stability ◽  
Master Device

A telemanipulation system allows a human user to manipulate a remote environment using a local interface (master robot) to control a remote (slave) robot. In doing so, it is desirable to provide users with appropriate sensory feedback, most often taking the form of visual and force information. In the presence of communication delays, however, a force feedback telemanipulation system must overcome detrimental effects caused by the delay, both on the quality of feedback to the user and the stability of the control system. For large delays, like those experienced in space telerobotics, the user's perceptive abilities are distorted and challenged by the lag between action and response. With this paper, a user-centered approach is proposed which seeks to simultaneously provide stable master-slave interaction as well as a natural user experience, tolerant of large delays. Rather than directly sending sensory information from the slave robot to the user, the goal is to use this information to create a real-time virtual model of the remote environment, which then serves as the user's interface. Maintaining a dynamic, virtual model locally at the master-side, the user is provided with immediate visual and haptic responses to his/her actions through the master device. At the remote site, the slave robot tracks the user's continuous and natural motion commands, while providing new information needed to update the virtual model. This method abstracts the data transmitted between the sites and creates greater delay tolerance. The basic principles of the approach are demonstrated on a simple one-degree of freedom telerobotic system, with a rigid, stationary slave environment.

scholarly journals Electrochemical Coupled Analysis of a Micro Piezo-Driven Focusing Mechanism

Micromachines ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 216 ◽  
Author(s):  
Chong Li ◽  
Kang Liang ◽  
Wei Zhong ◽  
Jiwen Fang ◽  
Lining Sun ◽  
...  
Keyword(s):  
Electromechanical Coupling ◽  
Response Speed ◽  
Coupled Analysis ◽  
Maximum Output ◽  
Driving Voltage ◽  
Matlab Simulation ◽  
Output Performance ◽  
Output Force ◽  
Drive Theory ◽  
Output Characteristics

In order to improve the response speed and output force of the camera focusing mechanism, the authors proposed a novelty micro focusing mechanism based on piezoelectric driving, which has the characteristics of rapid response, high precision positioning and large displacement focusing. In this paper, the operating principle of the proposed focusing mechanism is presented. Using the piezoelectric output characteristic, the movable tooth drive theory and the screw drive theory, the electromechanical coupling mechanical model and equations of the piezoelectric focusing mechanism are established. Through MATLAB simulation, the output characteristics of the piezoelectric focusing mechanism are calculated. The results indicate that the maximum thrust force of the lens and the maximum output torque of the movable tooth drive for the piezoelectric focusing mechanism are 562.5 N and 1.16 Nm, respectively. Furthermore, the driving voltage directly affects the output performance of the piezoelectric focusing mechanism. These results can be utilized both to optimize the dimensions and improve the overall performance of the piezo-driven focusing mechanism.

Force Feedback Glove for Manipulation of Virtual Objects

1993 ◽  
Vol 5 (1) ◽  
pp. 79-84 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Takahiro Hayashi
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Joint Angle ◽  
Force Sensor ◽  
Servo Motor ◽  
Force Transmission ◽  
Transmission Characteristics ◽  
Angle Sensor ◽  
Virtual Objects ◽  
The Difference

This paper presents a new force feedback glove for manipulation of virtual objects. The glove is comprised of wire, link, servo motor, force sensor, and joint angle sensor of fingers. These devices are mounted to the back of glove. The object grasping sense is generated by the force feedback control of the servo motor. We show the force transmission characteristics of the glove and the experimental results of recognition of the difference in rigidity of object.

Simultaneous Force and Stiffness Control of a Pneumatic Actuator

2007 ◽  
Vol 129 (4) ◽  
pp. 425-434 ◽  
Author(s):  
Xiangrong Shen ◽  
Michael Goldfarb
Keyword(s):  
Dynamic Range ◽  
Variable Stiffness ◽  
Pneumatic Actuator ◽  
Force Output ◽  
New Approach ◽  
Control Approach ◽  
Simultaneous Control ◽  
Output Force ◽  
Maximum Minimum ◽  
Series Elastic

This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series elastic component can be modulated independently of the actuator output force. Based on this notion, the authors propose a control approach for the simultaneous control of actuator output force and stiffness. Since the achievable output force and stiffness are coupled and configuration-dependent, the authors also present a control law that provides either maximum or minimum actuator output stiffness for a given displacement and desired force output. The general control and maximum/minimum stiffness approaches are experimentally demonstrated and shown to provide high fidelity control of force and stiffness, and additionally shown to provide a factor of 6 dynamic range in stiffness.

Modeling and Actuation Performance Analysis of Conically-Shaped Dielectric Electroactive Polymer Actuator

2014 ◽  
Vol 633-634 ◽  
pp. 250-256
Author(s):  
Yin Long Zhu ◽  
Hong Pin Zhou ◽  
Hua Ming Wang
Keyword(s):  
Dielectric Elastomer ◽  
Force Output ◽  
Energy Potential ◽  
Principal Stresses ◽  
Dielectric Elastomer Actuator ◽  
Design And Optimization ◽  
Dielectric Elastomer Actuators ◽  
Proposed Model ◽  
Polymer Actuator ◽  
Potential Applications

Dielectric elastomer actuators (DEAs) represent one class of electroactive polymers that have already demonstrated excellent performances and show potential applications in many fields. In this paper, we present a simplified conically-shaped dielectric elastomer actuator model to explore the effects of various preloads and actuation voltages on both the actuation displacement and force output of DEA. The strain energy potential of Yeoh is used and the viscoelasticity is also taken into account. Using the developed model, the numerical results of DEA including the actuation displacement, the distribution of the principal stretch ratios and principal stresses in the membrane and the force output can be obtained. With different preloads and actuation voltages, the actuation characteristic of conically-shaped dielectric elastomer actuator is explored experimentally and validates the results determined from the proposed model. The proposed model can be used for the design and optimization of conically-shaped dielectric elastomer actuator.

Large-Stroke Constant-Force Mechanisms Utilizing Second Buckling Mode of Flexible Beams: Evaluation Metrics and Design Approach

2020 ◽  
Vol 142 (10) ◽  
Author(s):  
Fulei Ma ◽  
Guimin Chen ◽  
Haitian Wang
Keyword(s):  
Experimental Results ◽  
The Other ◽  
Constant Force ◽  
Beam Length ◽  
Force Output ◽  
Buckling Mode ◽  
Flexible Beams ◽  
Comparison Results ◽  
Output Force ◽  
Kinetostatic Model

Abstract Compliant constant-force mechanisms (CCFMs), which provide a near constant-force output over a range of displacement, can benefit many applications. This work proposes a novel large-stroke CCFM (abbreviated as B2CCFM) that utilizes the second buckling mode of flexible beams. Two general nondimensionalized metrics, one describing the variation of output force and the other describing the operational displacement, are proposed to effectively characterize the performances of various CCFMs. Based on the general metrics, design formulas that can help designers quickly find suitable B2CCFM design for a specific application are obtained. A kinetostatic model for B2CCFM is also provided based on the chained beam constrain model to verify B2CCFM designs. An example accompanied with a prototype is presented to verify this novel CCFM and the effectiveness of the design formulas. The experimental results show that the B2CCFM example outputs a constant-force in a range as large as 45% of the beam length with variation less than 4.7%. The nondimensionalized metrics were demonstrated in comparison of several CCFMs, and the comparison results show the superior performances of B2CCFMs.

Large-Stroke Constant-Force Mechanisms Utilizing Second Bending Mode of Flexible Beams: Evaluation Metrics and Design Approach

2019 ◽  
Author(s):  
Fulei Ma ◽  
Guimin Chen ◽  
Haitian Wang
Keyword(s):  
Experimental Results ◽  
The Other ◽  
Constant Force ◽  
Beam Length ◽  
Force Output ◽  
Flexible Beams ◽  
Comparison Results ◽  
Bending Mode ◽  
Output Force ◽  
Kinetostatic Model

Abstract Compliant constant-force mechanisms (CCFMs), which provide a near constant force output over a range of displacement, can benefit many applications. This work proposes a novel large-stroke CCFM (abbreviated as B2CCFM) that utilizes the second bending mode of flexible beams. Two general nondimensionalized metrics, one describing the variation of output force and the other describing the operational displacement, are proposed to effectively characterize the performances of various CCFMs. Based on the general metrics, design formulas that can help designers quickly find suitable B2CCFM design for a specific application are obtained. A kinetostatic model for B2CCFM is also provided based on the chained beam constrain model (CBCM) to verify B2CCFM designs. An example accompanied with a prototype is presented to verify this novel CCFM and the effectiveness of the design formulas. The experimental results show that the B2CCFM example outputs a constant-force in a range as large as 45% of the beam length with variation less than 4.7%. The nondimensionalized metrics were demonstrated in comparison of several CCFMs, and the comparison results show the superior performances of B2CCFMs.

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