01589nas a2200205 4500008003900000245011500039210006900154260004300223300001400266520091400280653001201194653001301206100001701219700001601236700001401252700001701266700001701283700001501300856006801315 2014 d00a Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies0 aThreedigit grasp haptic device with variable contact stiffness f aPalermo, Italy, 16-19 June 2014 bIEEE a346 - 3503 a
This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation and human grasping studies. We report and discuss preliminary results on device validation as well as some illustrative measurement examples.
10aHaptics10aRobotics1 aAltobelli, A1 aBianchi, M.1 aSerio, A.1 aBaud-Bovy, G1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6961395