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Research Papers

Integrating a Grasp Exoskeleton Into a String-Based Interface for Human-Scale Interactions

[+] Author and Article Information
Rasul Fesharakifard

CAD and Robotic Center, Ecole Nationale Supérieure des Mines de Paris, 75272 Paris, Francerasul.fesharaki@ensmp.fr

Maryam Khalili

CAD and Robotic Center, Ecole Nationale Supérieure des Mines de Paris, 75272 Paris, Francemaryam.khalili@ensad.fr

Laure Leroy

CAD and Robotic Center, Ecole Nationale Supérieure des Mines de Paris, 75272 Paris, Francelaure.leroy@ensmp.fr

Alexis Paljic

CAD and Robotic Center, Ecole Nationale Supérieure des Mines de Paris, 75272 Paris, Francealexis.paljic@ensmp.fr

Philippe Fuchs

CAD and Robotic Center, Ecole Nationale Supérieure des Mines de Paris, 75272 Paris, Francephilippe.fuchs@ensmp.fr

DOF is the substitution of degree of freedom.

Pose is an abbreviation for position, orientation, and scale of effector.

J. Comput. Inf. Sci. Eng 8(4), 041008 (Nov 13, 2008) (9 pages) doi:10.1115/1.3006304 History: Received September 01, 2007; Revised September 01, 2008; Published November 13, 2008

A grasp exoskeleton actuated by a string-based platform is proposed to provide the force feedback for a user’s hand in human-scale virtual environments. The user of this interface accedes to seven active degrees of freedom in interaction with virtual objects, which comprises three degrees of translation, three degrees of rotation, and one degree of grasping. The exoskeleton has a light and ergonomic structure and provides the grasp gesture for five fingers. The actuation of the exoskeleton is performed by eight strings that are the parallel arms of the platform. Each string is connected to a block of motor, rotary encoder, and force sensor with a novel design to create the necessary force and precision for the interface. A hybrid control method based on the string’s tension measured by the force sensor is developed to resolve the ordinary problems of string-based interface. The blocks could be moved on a cubic frame around the virtual environment. Finally the results of preliminary experimentation of interface are presented to show its practical characteristics. Also the interface is mounted on an automotive model to demonstrate its industrial adaptability.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The circular effector and two coordinate systems

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Figure 2

Schema of the haptic interface and its analytic parameters

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Figure 3

Creation of grasp force in the effector

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Figure 4

Kinematics plan of the exoskeleton’s mechanism (left) and its general scheme (right)

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Figure 5

Model of the exoskeleton in its extreme open (left) and close (right) situations

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Figure 6

The prototype of the exoskeleton connected (left) and not connected (right) to the strings

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Figure 7

Position of the hand (left) and tension of the strings (right) without controller

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Figure 8

Control diagram of the interface by integrating the string tensions in the reference of force

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Figure 9

Position of the hand (left) and tension of the strings (right) by the hybrid control method

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Figure 10

Schema of an actuating unit

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Figure 11

Experimental configuration of the interface in virtual environment

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Figure 12

The exoskeleton’s pose for 6D force feedback with detailed views on collision

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Figure 13

The fingers are positioned in a grasping configuration around a virtual cylinder

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Figure 14

Integrating the haptic interface on a virtual dashboard

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Figure 15

The user’s gesture in grasping (left) and releasing (right) a cylindrical button

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