TY - GEN
T1 - A two-fingered force feedback glove using soft actuators
AU - Zhang, Yu
AU - Wang, Dangxiao
AU - Wang, Ziqi
AU - Wang, Yueping
AU - Wen, Li
AU - Zhang, Yuru
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/5/9
Y1 - 2018/5/9
N2 - Existing force feedback gloves mainly adopt rigid actuators such as electric motors and pneumatic cylinders, which have limitations including safety issues, heavyweight, and complex transmission mechanisms. In this paper, we introduce a light-weighted force-feedback glove using pneumatic-driven soft actuators. Based on the unilateral deformable features of the strain-limiting layer in the soft actuator, the dorsal-side mounting solution along with a light-weighted linkage mechanism is proposed to produce fingertip force feedback. We applied a pre-deformation of the soft actuator to enable the back drivability and the free space sensation. We then implemented a physical prototype of a two-fingered glove. Experimental results show that the glove could achieve considerable performance in free space with small frictional force (0.58N in maximum). While simulating the constrained space, the fingertip force reaches up to 2.1N. For the future work, we plan to improve the current solution to five fingers with finger position tracking and distributed tactile sensing on the palm.
AB - Existing force feedback gloves mainly adopt rigid actuators such as electric motors and pneumatic cylinders, which have limitations including safety issues, heavyweight, and complex transmission mechanisms. In this paper, we introduce a light-weighted force-feedback glove using pneumatic-driven soft actuators. Based on the unilateral deformable features of the strain-limiting layer in the soft actuator, the dorsal-side mounting solution along with a light-weighted linkage mechanism is proposed to produce fingertip force feedback. We applied a pre-deformation of the soft actuator to enable the back drivability and the free space sensation. We then implemented a physical prototype of a two-fingered glove. Experimental results show that the glove could achieve considerable performance in free space with small frictional force (0.58N in maximum). While simulating the constrained space, the fingertip force reaches up to 2.1N. For the future work, we plan to improve the current solution to five fingers with finger position tracking and distributed tactile sensing on the palm.
UR - https://www.scopus.com/pages/publications/85047933522
U2 - 10.1109/HAPTICS.2018.8357174
DO - 10.1109/HAPTICS.2018.8357174
M3 - 会议稿件
AN - SCOPUS:85047933522
T3 - IEEE Haptics Symposium, HAPTICS
SP - 186
EP - 191
BT - IEEE Haptics Symposium, HAPTICS 2018 - Proceedings
A2 - Visell, Yon
A2 - Kuchenbecker, Katherine J.
A2 - Gerling, Gregory J.
PB - IEEE Computer Society
T2 - 2018 IEEE Haptics Symposium, HAPTICS 2018
Y2 - 25 March 2018 through 28 March 2018
ER -