We present a novel 3RRS wearable fingertip device. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three small servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the users fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip. The axes of the two revolute joints of each leg are parallel, so that it constitutes a 2-DoF planar articulated mechanism, constraining the motion of the center of each spherical joint on a plane fixed with respect to the upper body. The mobile end-effector has therefore 3-DoF with respect to the body. The proposed device weights 25 g for 355048 mm dimensions.

Chinello, F., Pacchierotti, C., Malvezzi, M., Prattichizzo, D. (2018). A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction. In Lecture Notes in Electrical Engineering (pp. 63-65). Springer, Singapore [10.1007/978-981-10-4157-0_10].

A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction

F. CHINELLO;C. PACCHIEROTTI;M. MALVEZZI;D. PRATTICHIZZO
2018-01-01

Abstract

We present a novel 3RRS wearable fingertip device. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three small servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the users fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip. The axes of the two revolute joints of each leg are parallel, so that it constitutes a 2-DoF planar articulated mechanism, constraining the motion of the center of each spherical joint on a plane fixed with respect to the upper body. The mobile end-effector has therefore 3-DoF with respect to the body. The proposed device weights 25 g for 355048 mm dimensions.
2018
978-981104156-3
Chinello, F., Pacchierotti, C., Malvezzi, M., Prattichizzo, D. (2018). A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction. In Lecture Notes in Electrical Engineering (pp. 63-65). Springer, Singapore [10.1007/978-981-10-4157-0_10].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1029434