Observatorio de I+D+i UPM

Descripción
This paper presents two possible mechanical designs for a modular haptic device. In a modular haptic device, each module allows the interaction with a scenario by using a single finger, and by adding more modules, multi-finger interaction can be achieved. In this paper, two different mechanical designs for such haptic modules are presented and compared (4-bar and 5-bar mechanisms). This comparison is performed in terms of inertia, manipulability, workspace width, homogeneity of forces reflection and the resulting direct kinematics and jacobian equations. Moreover, it is described how these modules can be scaled to provide haptic feedback to multiple fingers.
Internacional	Si
Nombre congreso	2011IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Tipo de participación	960
Lugar del congreso	Hungría
Revisores	Si
ISBN o ISSN	2159-6247
DOI	10.1109/AIM.2011.6027150
Fecha inicio congreso	03/07/2011
Fecha fin congreso	07/07/2011
Desde la página	98
Hasta la página	103
Título de las actas	Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Esta actividad pertenece a memorias de investigación

• Autor: Jose Manuel Breñosa Martinez (UPM)
• Autor: Ignacio Galiana Bujanda (UPM)
• Autor: Manuel Ferre Perez (UPM)
• Autor: Rafael Aracil Santonja (UPM)

• Creador: Grupo de Investigación: Robots y máquinas inteligentes
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Electrónica e Informática Industrial