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Conference papers

A novel 3RRS wearable fingertip cutaneous device for virtual interaction

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.
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Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, November 26, 2018 - 3:31:09 PM
Last modification on : Friday, April 8, 2022 - 4:04:03 PM
Long-term archiving on: : Wednesday, February 27, 2019 - 2:38:29 PM


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Francesco Chinello, Claudio Pacchierotti, Monica Malvezzi, Domenico Prattichizzo. A novel 3RRS wearable fingertip cutaneous device for virtual interaction. AsiaHaptics 2016, Dec 2016, Kashiwanoha, Japan. pp.63-65, ⟨10.1007/978-981-10-4157-0_10⟩. ⟨hal-01935254⟩



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