Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 7, Issue 2, Pages 256-263Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2002.1011262
Keywords
calibration; control; CyberGlove; CyberGrasp; haptic feedback; position sensor; Rutgers Master glove; virtual reality
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The Rutgers Master II-ND glove is a haptic interface designed for dextrous interactions with virtual environments. The glove provides force feedback up to 16 N each to the thumb, index, middle, and ring fingertips. It uses custom pneumatic actuators arranged in a direct-drive configuration in the palm. Unlike commercial haptic gloves, the direct-drive actuators make unnecessary cables and pulleys, resulting in a more compact and lighter structure. The force-feedback structure also serves as position measuring exoskeleton, by integrating noncontact Hall-effect and infrared sensors. The glove is connected to a haptic-control interface that reads its sensors and servos its actuators. The interface has pneumatic servovalves, signal conditioning electronics, A/D/A boards, power supply and an imbedded Pentium PC. This distributed computing assures much faster control bandwidth than would otherwise be possible. Communication with the host PC is done over an RS232 line. Comparative data with the CyberGrasp commercial haptic glove is presented.
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