ICRA'09 Paper Abstract


Paper FrA5.4

Fontana, Marco (PERCRO - Scuola Superiore Sant'Anna), Salsedo, Fabio (PERCRO - Scuola Superiore S.Anna), Bergamasco, Massimo (Scuola Superiore S.Anna), Dettori, Andrea (Scuola Superiore Sant'Anna)

Mechanical Design of a Novel Hand Exoskeleton for Accurate Force Displaying

Scheduled for presentation during the Regular Sessions "Grasping - I" (FrA5), Friday, May 15, 2009, 09:30−09:50, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Grasping, Mechanism Design, Haptics and Haptic Interfaces


This paper deals with the mechanical design of a novel haptic Hand Exoskeleton (HE) that allows exerting controlled forces on the fingertip of the index and thumb of the operator. The proposed device includes several design solutions for optimizing the accuracy and mechanical performances. Remote Centers of Motion mechanisms have been adopted for delocalizing the encumbrance of linkages of the structure away from the operatorís fingers. An improved stiffness of the transmission and reduced requirements for the actuators have been achieved thanks to a novel Patent Pending principle for integrating speed reduction ratio with the transmission system.



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