高技术通讯（英文版）2010，Vol.16Issue(3)：299-305,7.DOI:10.3772/j.issn.1006-6748.2010.03.013
A force feedback master finger in exoskeleton type
A force feedback master finger in exoskeleton type
摘要
Abstract
In order to eliminate the drawbacks of conventional force feedback gloves,a new type of master finger has been developed.By utilizing three"four-bar mechanism joint"in series and wire coupling mechanism,the master finger transmission ratio is kept exactly 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion directions.Additionally,to assttre faster data transmission and near zero delay in the master-slave operation,a digital signal processing/field programmable gate array(DSP/FPGA-FPGA)structure with 200μs cycle time is designed.The operating modes of the master finger can be contact or non-contact,which depends on the motion states of a slave finger,free motion or constrained motion.The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation.To evaluate the performances of the master finger,an experiment between the master finger and a DLR/HIT dexterous finger is conducted.The results demonstrate that this new type master finger can augment telepresence.关键词
force feedback/master finger/digital signal processing(DSP)/field programmable gate array(FPGA)/telepresenceKey words
force feedback/master finger/digital signal processing(DSP)/field programmable gate array(FPGA)/telepresence分类
信息技术与安全科学引用本文复制引用
Fang Honggen,Liu Hong,Xie Zongwu..A force feedback master finger in exoskeleton type[J].高技术通讯（英文版）,2010,16(3):299-305,7.基金项目
Supported by the High Technology Research and Development Programme of China(No.2008AA04Z203)and the 111 Project(B07018). （No.2008AA04Z203）
