Research Papers

Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface

[+] Author and Article Information
Nicolò Pedemonte

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: nicolo.pedemonte.1@ulaval.ca

Thierry Laliberté

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca

Clément Gosselin

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca

Manuscript received February 5, 2015; final manuscript received July 20, 2015; published online September 25, 2015. Assoc. Editor: Aaron M. Dollar.

J. Mechanisms Robotics 8(1), 011020 (Sep 25, 2015) (9 pages) Paper No: JMR-15-1026; doi: 10.1115/1.4031167 History: Received February 05, 2015; Revised July 20, 2015

The objective of this work is to develop a communication system that allows two people to shake hands while being in different locations. To this end, a novel haptic interface that is capable of performing a robotic handshake is designed and built. At the final stage of the project, the system will be composed of two such interfaces. In this paper, the attention is focused on the development of the haptic interface itself. The design process and the control strategy are first discussed. Then, an experimental session is proposed in order to analyze the robotic handshake performed by the interface. The collected data will be used to tune the interface’s behavior in the context of the communication system.

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Fig. 1

The one-DOF parallel jaw mechanism, which represents the first step toward the design of the haptic interface, namely, its actuated palm

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Fig. 2

An internal and a front view of the actuated palm. The two parallel jaws, one of which is equipped with a load cell (upper jaw), are driven by the motor and translate in opposite directions.

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Fig. 3

Geometric design of the underactuated finger proposed in Ref.[20] and the solid model of the finger proposed in Ref [22]

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Fig. 4

Finger positions corresponding to an open (left) and a closed (right) jaw

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Fig. 5

The finger actuation system: only one motor and one load cell are required to actuate the fingers and modulate their grasping force

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Fig. 6

Schematic illustrating the underactuation of the fingers

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Fig. 7

The gear train on the backside of the device

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Fig. 8

The passively driven thumb

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Fig. 9

The HaRRI prototype

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Fig. 10

Structure of the control algorithm

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Fig. 11

The variable parameters during a typical handshake. At t = 0.3 s, the user grasps the haptic interface: cF, kP, and kF drop to their minimal value while cP starts decreasing. At t = 1 s, the user stops grasping and releases the interface: cP and cF immediately recover their maximum values while kP and kF slowly start raising and both the palm and the fingers go back to the initial (open) position.

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Fig. 12

The experimental setup with the KUKA LWR

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Fig. 13

The grasping force can be measured by means of a dynamometer, which must be properly positioned in order to measure the force exerted by the interface as if it were performing the handshake

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Fig. 14

Displacements of the haptic interface and forces measured by the KUKA LWR robot at its end effector during a typical handshake. As it can be observed, the user moves the interface mainly along his/her longitudinal axis and the longitudinal forces are larger than the sagittal forces.

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Fig. 15

User force and HaRRI force during a squeezing exercise. It can be observed that a variable threshold value for the driving tendon tension leads to an adaptive robotic handshake. The firmer the user grasps, the firmer the interface tightens back, subjected to its intrinsic limits.




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