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EnglishThe 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]
| Titolo: | Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle | |
| Autori: | ||
| Data di pubblicazione: | 2019 | |
| Titolo del libro: | Mechanism Design for Robotics, Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics | |
| Serie: | ||
| Abstract: | The paper deals with the implementation of a McKibben pneumatic muscle in a tele-operation roboti...c 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. | |
| ISBN: | 978-3-030-00364-7 978-3-030-00365-4 | |
| Appare nelle tipologie: | 2.1 Contributo in volume (Capitolo o Saggio) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| meder2018-franco.pdf | Publisher post-print | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
| MEDER2018_035_original_v4.pdf | Author post-print | 2. Post-print / Author's Accepted Manuscript | PUBBLICO - Tutti i diritti riservati | Visibile a tuttiVisualizza/Apri |
http://hdl.handle.net/11583/2712404
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