Pushing the limits of the CyberGrasp™ for haptic rendering

Conference paper (2013)

Authors

M. Aiple European Space Agency (ESA)
A. Schiele Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering , European Space Agency (ESA)
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2013

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

The CyberGrasp™ is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation.