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Design of a novel Three-Finger haptic grasping system: Extending a Single point to Tripod grasp

Publication Type : Conference Paper

Thematic Areas : Humanitarian-Robotics-HCI

Publisher : ACM International Conference Proceeding Series

Source : ACM International Conference Proceeding Series, 2017

Url : https://www.scopus.com/inward/record.uri?eid=2-s2.0-85038430052&doi=10.1145%2f3132446.3134903&partnerID=40&md5=d31bd24f4a1c6ece0c8c89dd51cdda15

ISBN : 9781450352949

Keywords : Finger grippers, Grippers, haptic devices, haptic interfaces, Haptics, Kinesthetic feedback, Multi fingers, Object grasping, Robotics, Tactile and kinesthetic effects, Tactile feedback

Campus : Amritapuri

School : School of Engineering

Center : Ammachi labs, Center for Gender Equality and Women Empowerment

Department : Physics

Year : 2017

Abstract : Present day haptic devices have yet to achieve multi-finger kinesthetic plus tactile feedback. This paper discusses the design of a Three-Finger gripper module that can attach to a commercial haptic device like the Novint Falcon. It will mimic grasping and lifting action and provide kinesthetic feedback via the Falcon and tactile feedback via the gripper. We first present a study on the forces exerted and typical angle and orientation of fingers while lifting or grasping an object. Based on the results obtained, we present a custom designed Three-Finger gripper module that fits on to the Novint Falcon. We show that when the user places his fingers in the finger holders and when the motors are actuated, the finger holders pull on the users' fingers and provide the required sensation.

Cite this Research Publication : R. Rahul, Jose, J., Harish, M. T., and Rao R. Bhavani, “Design of a novel Three-Finger haptic grasping system: Extending a Single point to Tripod grasp”, in ACM International Conference Proceeding Series, 2017

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