Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation

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LÓPEZ, Javier ;BREÑOSA, Jose ;GALIANA, Ignacio ;FERRE, Manuel ;GIMÉNEZ, Antonio ;BARRIO, Jorge .
Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 58, n.7-8, p. 431-443, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/>. Date accessed: 20 sep. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2011.141.
López, J., Breñosa, J., Galiana, I., Ferre, M., Giménez, A., & Barrio, J.
(2012).
Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation.
Strojniški vestnik - Journal of Mechanical Engineering, 58(7-8), 431-443.
doi:http://dx.doi.org/10.5545/sv-jme.2011.141
@article{sv-jmesv-jme.2011.141,
	author = {Javier  López and Jose  Breñosa and Ignacio  Galiana and Manuel  Ferre and Antonio  Giménez and Jorge  Barrio},
	title = {Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {58},
	number = {7-8},
	year = {2012},
	keywords = {haptic; multifinger; virtual manipulation},
	abstract = {This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.},
	issn = {0039-2480},	pages = {431-443},	doi = {10.5545/sv-jme.2011.141},
	url = {https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/}
}
López, J.,Breñosa, J.,Galiana, I.,Ferre, M.,Giménez, A.,Barrio, J.
2012 June 58. Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 58:7-8
%A López, Javier 
%A Breñosa, Jose 
%A Galiana, Ignacio 
%A Ferre, Manuel 
%A Giménez, Antonio 
%A Barrio, Jorge 
%D 2012
%T Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation
%B 2012
%9 haptic; multifinger; virtual manipulation
%! Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation
%K haptic; multifinger; virtual manipulation
%X This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.
%U https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/
%0 Journal Article
%R 10.5545/sv-jme.2011.141
%& 431
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 58
%N 7-8
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28
López, Javier, Jose  Breñosa, Ignacio  Galiana, Manuel  Ferre, Antonio  Giménez, & Jorge  Barrio.
"Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation." Strojniški vestnik - Journal of Mechanical Engineering [Online], 58.7-8 (2012): 431-443. Web.  20 Sep. 2021
TY  - JOUR
AU  - López, Javier 
AU  - Breñosa, Jose 
AU  - Galiana, Ignacio 
AU  - Ferre, Manuel 
AU  - Giménez, Antonio 
AU  - Barrio, Jorge 
PY  - 2012
TI  - Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2011.141
KW  - haptic; multifinger; virtual manipulation
N2  - This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.
UR  - https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/
@article{{sv-jme}{sv-jme.2011.141},
	author = {López, J., Breñosa, J., Galiana, I., Ferre, M., Giménez, A., Barrio, J.},
	title = {Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {58},
	number = {7-8},
	year = {2012},
	doi = {10.5545/sv-jme.2011.141},
	url = {https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/}
}
TY  - JOUR
AU  - López, Javier 
AU  - Breñosa, Jose 
AU  - Galiana, Ignacio 
AU  - Ferre, Manuel 
AU  - Giménez, Antonio 
AU  - Barrio, Jorge 
PY  - 2018/06/28
TI  - Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 58, No 7-8 (2012): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2011.141
KW  - haptic, multifinger, virtual manipulation
N2  - This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.
UR  - https://www.sv-jme.eu/article/mechanical-design-optimization-for-multi-finger-haptic-devices-applied-to-virtual-grasping-manipulation/
López, Javier, Breñosa, Jose, Galiana, Ignacio, Ferre, Manuel, Giménez, Antonio, AND Barrio, Jorge.
"Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 58 Number 7-8 (28 June 2018)

Authors

Affiliations

  • University of Almería, Mechanical Engineering Area, Spain 1
  • Technical University of Madrid, Centre for Automation and Robotics, Spain 2

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 58(2012)7-8, 431-443

https://doi.org/10.5545/sv-jme.2011.141

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.

haptic; multifinger; virtual manipulation