TY - CONF T1 - Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies T2 - 22nd Mediterranean Conference of Control and Automation (MED) 2014 Y1 - 2014 A1 - Altobelli, A A1 - M. Bianchi A1 - A. Serio A1 - Baud-Bovy, G A1 - M Gabiccini A1 - A. Bicchi KW - Haptics KW - Robotics AB -

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.

JF - 22nd Mediterranean Conference of Control and Automation (MED) 2014 PB - IEEE CY - Palermo, Italy, 16-19 June 2014 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6961395 ER -