Abstract
This paper presents the design, kinematic, and nonlinear control algorithm of a 3 degrees of freedom (DOF) pneumatic haptic finger developed for elastographic imaging virtual palpation. This haptic interface allows for precise tracking of the index finger position and can provide directional force perception at the fingertip. Of the 4 DOF of the human finger, two are kinematically coupled (distal and proximal interphalangeal joints), one DOF of the metacarpophalangeal (MCP) joint is controlled independently, while the remaining MCP joint DOF is only measured. Relationships between the joint angles and actuator positions, as well as fingertip to actuator forces are derived in closed form. A sliding mode nonlinear pneumatic controller is implemented and experimental results are presented.
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