Abstract
We present a novel 3RRS wearable fingertip device. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three small servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the users fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip. The axes of the two revolute joints of each leg are parallel, so that it constitutes a 2-DoF planar articulated mechanism, constraining the motion of the center of each spherical joint on a plane fixed with respect to the upper body. The mobile end-effector has therefore 3-DoF with respect to the body. The proposed device weights 25 g for 355048 mm dimensions.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Chinello, F., Malvezzi, M., Pacchierotti, C., Prattichizzo, D.: Design and development of a 3rrs wearable fingertip cutaneous device. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. pp. 293–298 (2015)
Meli, L., Scheggi, S., Pacchierotti, C., Prattichizzo, D.: Wearable haptics and hand tracking via an rgb-d camera for immersive tactile experiences. In: Proceedings of ACM Special Interest Group on Computer Graphics and Interactive Techniques Conference (2014)
Pacchierotti, C., Meli, L., Chinello, F., Malvezzi, M., Prattichizzo, D.: Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems. Int. J. Robot. Res. (2015) (In Press)
Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K.J.: Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery. IEEE Trans. Biomed. Eng. 63, 278–287 (2016)
Prattichizzo, D., Chinello, F., Pacchierotti, C., Malvezzi, M.: Towards wearability in fingertip haptics: a 3-dof wearable device for cutaneous force feedback. IEEE Trans. Haptics 6(4), 506–516 (2013)
Prattichizzo, D., Pacchierotti, C., Rosati, G.: Cutaneous force feedback as a sensory subtraction technique in haptics. IEEE Trans. Haptics 5(4), 289–300 (2012)
Tsetserukou, D., Hosokawa, S., Terashima, K.: Linktouch: a wearable haptic device with five-bar linkage mechanism for presentation of two-dof force feedback at the fingerpad. In: Proceedings of IEEE Haptics Symposium (HAPTICS), pp. 307–312 (2014)
Acknowledgements
The research has received founding from European Union’s Horizon 2020 Research and Innovation Programme, Grant Agreement No. 688857 (SoftPro) and from the European Union Seventh Framework Programme FP7/2007–2013, Grant Agreement No. 601165 (WEARHAP).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Chinello, F., Pacchierotti, C., Malvezzi, M., Prattichizzo, D. (2018). A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction. In: Hasegawa, S., Konyo, M., Kyung, KU., Nojima, T., Kajimoto, H. (eds) Haptic Interaction. AsiaHaptics 2016. Lecture Notes in Electrical Engineering, vol 432. Springer, Singapore. https://doi.org/10.1007/978-981-10-4157-0_10
Download citation
DOI: https://doi.org/10.1007/978-981-10-4157-0_10
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-4156-3
Online ISBN: 978-981-10-4157-0
eBook Packages: EngineeringEngineering (R0)