Research Papers

Design and Optimization of a Five-Finger Haptic Glove Mechanism

[+] Author and Article Information
Zhou Ma

Robotics and Mechatronics Lab,
Department of Mechanical and
Aerospace Engineering,
The George Washington University,
801 22nd Street, North West,
Washington, DC 20052

Pinhas Ben-Tzvi

Robotics and Mechatronics Lab,
Department of Mechanical and
Aerospace Engineering,
The George Washington University,
801 22nd Street, North West,
Washington, DC 20052
e-mail: bentzvi@gwu.edu

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 24, 2013; final manuscript received December 12, 2014; published online March 23, 2015. Assoc. Editor: Pierre M. Larochelle.

J. Mechanisms Robotics 7(4), 041008 (Nov 01, 2015) (8 pages) Paper No: JMR-13-1235; doi: 10.1115/1.4029437 History: Received November 24, 2013; Revised December 12, 2014; Online March 23, 2015

This paper describes the design and optimization of a novel five-finger haptic glove mechanism, which uses a worm-geared motor and an antagonistically routed cable mechanism at each finger as both active and passive force display actuators. Existing haptic gloves either restrict the natural motion and maximum output force of the hand or are bulky and heavy. In order to tackle these challenges, the five-finger haptic glove is designed to minimize the size and weight and maximize the workspace and force output range of the glove. The glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. This paper describes the mechatronic design of the glove and the method to optimize the link length with the purpose of enhancing workspace and the force transmission ratio. Simulation and experimental results are reported, showing the future potential of the proposed system in haptic applications and rehabilitation therapy.

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Fig. 1

Glove prototype: (a) and (b) side view in open/closed configuration, (c) and (d) top/bottom view in open configuration

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Fig. 2

CAD model of the index finger mechanism of the glove

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Fig. 3

Kinematic diagram of the finger/glove system

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Fig. 4

Fixed secondary pulley prototype and model

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Fig. 5

Optimal result (local minimum, variance (19, 18) = 543.6889)

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Fig. 6

2D workspace comparison between index finger and the glove mechanism when l = [73.88; 47.23; 19.1], α1=[-80,60], α2=[-130,-50], α3=[-80,60]

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Fig. 7

Friction model validation experimental test platform

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Fig. 8

Least-squares fitting plots for load cell output when lifting objects with lubrication

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Fig. 9

Friction coefficient with and without lubrication

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Fig. 10

Human index finger trajectories for two close\open maneuvers acquired by user 1 in test  #1

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Fig. 11

Contact force (a) and actuator current (b) measured in free movement




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