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Haptic Glove Using Compression-Induced Friction Torque

[+] Author Affiliations
Yoshihiro Kuroda, Yu Shigeta, Masataka Imura, Yuki Uranishi, Osamu Oshiro

Osaka University, Osaka, Japan

Paper No. DSCC2013-3866, pp. V002T26A004; 7 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5613-0
  • Copyright © 2013 by ASME


The aim of this study is to develop a compact haptic glove that can present a variety of grasping sensations. This paper proposes a mechanism of compressing a finger joint to induce friction torque between the link and joint. In order to reduce weight and produce greater force, shape memory alloys were chosen as an actuator. The result of an experiment showed a linear relationship between the compressing force of a finger joint and friction torque, and suggested the effectiveness of the proposed mechanism. The prototype system suggested the proposed device is small and lightweight compared to the conventional device.

Copyright © 2013 by ASME



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