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[208] Citation: R. Leuschke, E.K.T. Kurihara, J. Dosher, B. Hannaford,
'High Fidelity Multi Finger Haptic Display,'
Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. WHC 2005., pp. 606-608, 2005.
Abstract
The Fingertip Haptic Display (FHD) is a five bar mechanism
developed at the University of Washington for haptic
interaction with the fingertip of the operator. The twodegree-
of-freedom mechanism was computer optimized to
accommodate the workspace of the human finger in flexion/
extension with a high degree of kinematic isotropy. Direct
drive with frictionless flat-coil actuators ensure low
torque ripple, inertia, and static friction in the actuation
system for high fidelity haptic rendering. This paper describes
a redesign of the position sensing arrangement,
I/O hardware and software as well as thermal modelling
to improve performance and stack four devices for use
with index, middle, ring and little finger in a multifinger
haptic display. Promising applications are expected to include
palpation training for medical personnel, museum
displays enabling the visitor to “touch” art, as well as psychophysics
research: exploring the limits of human touch
perception.
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Updated: Tue Jul 15 23:54:51 2008
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