Sensor Design

Rausch, Jacqueline; Kern, Thorsten A.; Hatzfeld, Christian

doi:10.1007/978-1-4471-6518-7_10

Cited by 1 publication

(1 citation statement)

References 63 publications

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“…A F t = 5 N feedback force on the user’s fingertip is considered to select appropriate exoskeleton actuators, which according to the study by Rausch et al 30 is sufficient for kinesthetic applications. The calculations were carried out based on the free body diagram of Figure 7 and the mass of the mechanism links was considered negligible.…”

Section: Dynamic Analysismentioning

confidence: 99%

Two-finger exoskeleton with force feedback for a mobile robot teleoperation

Aragón-Martínez

Arias-Montiel

Lugo-González

et al. 2020

International Journal of Advanced Robotic Systems

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In this work, the design, manufacturing, instrumentation, and application of a two-finger exoskeleton with force feedback are presented. The exoskeleton is based on remote center of motion mechanisms in order to avoid mechanical interference with the user’s fingers and is manufactured by three-dimensional printing. The developed exoskeleton is applied in a mobile robot teleoperation by mapping the finger movements in forward and turning commands for the robot. The presence of obstacles detected by the robot is sensed by the user by means of a feedback force. The problem of simultaneously communicating a data acquisition card and the robot hardware by MATLAB ® Simulink® was solved by using an external Wi-Fi module. The result is a lightweight exoskeleton which is able to communicate bidirectionally with a mobile robot by a personal computer for teleoperation tasks. The success of the system implementation is proven by a set of experiments presented in the final part of the article.

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Section: Dynamic Analysismentioning

confidence: 99%