Haptic Feedback System for an Artificial Prosthetic Hand for Object Grasping and Slip Detection: A Preliminary Study

Premarathna, Chanaka Prasad; Ruhunage, Isuru; Chathuranga, Damith Suresh; Lalitharatne, Thilina Dulantha

doi:10.1109/robio.2018.8665044

Cited by 5 publications

(2 citation statements)

References 16 publications

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“…In the case of pneumatically driven actuators, the evolution of these actuators initially began with static-pressure feedback; primarily, the use of pin arrays [21,22], air jets [23,24], and inflatable structures [25][26][27][28][29][30], with the latter accommodating more actuator design freedom. In line with this topic, research by King et al [30,31] explored the use of inflatable soft pneumatic actuators for static-pressure feedback while incorporating modularity and scalability into the design.…”

Section: Introductionmentioning

confidence: 99%

“…Within pneumatic actuator designs, the primary objective is to localize deformation during inflation-deflation cycles by introducing contrast in the stiffness. The literature offers a range of solutions, with the most notable design approaches involving the use of fabric and silicone [7,16,17,19,20], the bonding or laminating of soft elastomers to relatively rigid substrates [18,[27][28][29], and the integration of elastomers between rigid components [26].…”

Section: Introductionmentioning

confidence: 99%

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Fabrication and Characterization of Pneumatic Unit Cell Actuators

Kommuri,

Van Beek,

Kuling

2024

Actuators

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In the realm of virtual and augmented reality (VR/AR) and teleoperation applications, haptic feedback plays a role in enhancing task performance. One of the main goals of this study is to simplify haptic device hardware while improving its capacity to provide various stimuli at different intensities. In response to these challenges, this research introduces the Pneumatic Unit Cell (PUC), a soft pneumatically driven device—a hollow silicone cylinder with the ability to provide both static-pressure and vibrotactile feedback. Furthermore, the Pneumatic Unit Cell’s design simplicity has the potential for scalability, modularity, and the flexibility to mount the device on any part of the human body. The focus of the current paper is to study PUCs as actuators and lay the foundation for future perceptual studies. The characterization studies encompass the fabrication and verification of the fabrication accuracy through dimensional measurements, characterizing PUCs under static-pressure conditions (measuring the free deflection and blocking force) and frequency conditions (measuring the free deflection). In the static-pressure conditions, we applied pressures ranging from 0 to 40 kPa to measure the free deflection and from 0 to 30 kPa to measure the blocking force. In the frequency conditions, we applied pressures of 10, 20, and 30 kPa with inflation/deflation rates varying between 0.5 Hz and 100 Hz. The measurements of free deflection under static-pressure conditions revealed that 0.9 mm and 1.2 mm PUCs exhibit a linear increase in free deflection with an increase in inflation pressure. The results of free-deflection measurements under the frequency conditions indicate a direct relationship between the free-deflection magnitude and applied pressure. The results also demonstrate an inverse relationship to the frequency of inflation/deflation. The characterization results demonstrate a broad range of free deflection observed under both static-pressure and frequency conditions, encouraging the potential application of Pneumatic Unit Cell actuators as haptic devices.

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