Archivio Istituzionale della RicercaThe 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 (MECHANISMS AND MACHINE SCIENCE). - In: Mechanism Design for Robotics, Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics / Gasparetto A., Ceccarelli M.. - ELETTRONICO. - [s.l] : Springer International Publishing, 2019. - ISBN 978-3-030-00364-7. - 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.
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MEDER2018_035_original_v4.pdf
Open Access dal 01/09/2019
Descrizione: Author post-print
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https://hdl.handle.net/11583/2712404
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