An efficient force-feedback hand exoskeleton for haptic applications

Le, DTG; Nguyen, L

An efficient force-feedback hand exoskeleton for haptic applications

Le, DTG Nguyen, L

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Publisher:: Springer Science and Business Media LLC
Publication Type:: Journal Article
Citation:: International Journal of Intelligent Robotics and Applications, 2021, 5, (3), pp. 395-409
Issue Date:: 2021-09-01

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Field	Value	Language
dc.contributor.author	Le, DTG
dc.contributor.author	Nguyen, L https://orcid.org/0000-0001-5360-886X
dc.date.accessioned	2022-03-10T00:38:03Z
dc.date.available	2022-03-10T00:38:03Z
dc.date.issued	2021-09-01
dc.identifier.citation	International Journal of Intelligent Robotics and Applications, 2021, 5, (3), pp. 395-409
dc.identifier.issn	2366-5971
dc.identifier.issn	2366-598X
dc.identifier.uri	http://hdl.handle.net/10453/155127
dc.description.abstract	In this paper, a study on wearable exoskeleton devices which are capable of delivering sensation to the fingers while interacting with the virtual objects in virtual reality environment has been conducted. A force-controllable hand exoskeleton system is proposed, which is able to apply force feedback to the fingertip while allowing natural finger motions. The linkage structure was inspired by the skeletal structure of a human finger. Moreover, a series elastic actuator (SEA) mechanism, which consisted of a linear motor, a spring and a potentiometer, was presented as an actuating system. The force transmission through linkage has been investigated to ensure the force feedback ability at the fingertip. By using a PID controller, the proposed actuator module could generate the desired force in two different modes: free mode and interaction mode. The experimental results show that the proposed system could effectively deliver forces to the fingertips.
dc.language	en
dc.publisher	Springer Science and Business Media LLC
dc.relation.ispartof	International Journal of Intelligent Robotics and Applications
dc.relation.isbasedon	10.1007/s41315-021-00197-w
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	An efficient force-feedback hand exoskeleton for haptic applications
dc.type	Journal Article
utslib.citation.volume	5
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2022-03-10T00:38:00Z
pubs.issue	3
pubs.publication-status	Published
pubs.volume	5
utslib.citation.issue	3

Abstract:

In this paper, a study on wearable exoskeleton devices which are capable of delivering sensation to the fingers while interacting with the virtual objects in virtual reality environment has been conducted. A force-controllable hand exoskeleton system is proposed, which is able to apply force feedback to the fingertip while allowing natural finger motions. The linkage structure was inspired by the skeletal structure of a human finger. Moreover, a series elastic actuator (SEA) mechanism, which consisted of a linear motor, a spring and a potentiometer, was presented as an actuating system. The force transmission through linkage has been investigated to ensure the force feedback ability at the fingertip. By using a PID controller, the proposed actuator module could generate the desired force in two different modes: free mode and interaction mode. The experimental results show that the proposed system could effectively deliver forces to the fingertips.

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http://hdl.handle.net/10453/155127