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The paper deals with the implementation of a McKibben pneumatic muscle in a tele-operation robotic system provided with haptic feedback, aimed to the generation of the perception force at the operator’s fingertip. The architecture of the device is presented and a dynamic model of the system is proposed. A prototype of the device has been tested in dynamic conditions, and the outcomes have been compared with the numerical results, highlighting that the use of a pneumatic muscle is suitable for the actuation of a haptic finger device.

Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle / Franco, Walter; Maffiodo, Daniela; De Benedictis, Carlo; Ferraresi, Carlo. - ELETTRONICO. - 66:(2019), pp. 251-259. [10.1007/978-3-030-00365-4_30]

Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle

Franco, Walter;Maffiodo, Daniela;De Benedictis, Carlo;Ferraresi, Carlo
2019

Abstract

The paper deals with the implementation of a McKibben pneumatic muscle in a tele-operation robotic system provided with haptic feedback, aimed to the generation of the perception force at the operator’s fingertip. The architecture of the device is presented and a dynamic model of the system is proposed. A prototype of the device has been tested in dynamic conditions, and the outcomes have been compared with the numerical results, highlighting that the use of a pneumatic muscle is suitable for the actuation of a haptic finger device.
MECHANISMS AND MACHINE SCIENCE
978-3-030-00364-7
978-3-030-00365-4
Mechanism Design for Robotics, Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2712404
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