Design, characterisation and validation of a haptic interface based on twisted string actuation

Skvortsova, Valeria and Nedelchev, Simeon and Brown, Joshua and Farkhatdinov, Ildar and Gaponov, Igor (2022) Design, characterisation and validation of a haptic interface based on twisted string actuation. Frontiers in Robotics and AI, 9. ISSN 2296-9144

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Abstract

This paper presents the design and experimental characterisation of a wrist haptic interface based on a twisted string actuator. The interface is designed for controlled actuation of wrist flexion/extension and is capable of rendering torque feedback through a rotary handle driven by the twisted string actuator and spring-loaded cable mechanisms. The interface was characterised to obtain its static and dynamic haptic feedback rendering capabilities. Compliance in the spring and actuation mechanism makes the interface suitable for smooth rendering of haptic feedback of large magnitudes due to the high motion transmission ratio of the twisted strings. Haptic virtual wall rendering capabilities are demonstrated.

Item Type: Article
Subjects: AP Academic Press > Mathematical Science
Depositing User: Unnamed user with email support@apacademicpress.com
Date Deposited: 22 Jun 2023 06:03
Last Modified: 08 Jun 2024 08:02
URI: http://info.openarchivespress.com/id/eprint/1612

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