Haptic hand (2020/02~)
Project status Ongoing
A wearable haptic exoskeleton helps user to ineract with virtual environment in a natural way. The first generation hardware comes with thumb and index moudle. Each finger moudle have 3 indepent actuar for a all direction force feedback at user's fingertip. Also, a 3dof rss moudle can provide limited haptic feedback for user's fingertip.
A 4DOF linkage connects the user’s fingertip and back of the hand, which covers the finger’s workspace. To achieve 3-dimensional force feedback, 3 joints of the linkage are actuated by brushless motors, with high power density that delivers useable torque to the user’s finger. A compact brushless driver based on stm32f446re is developed, which drives gimbal motors as torque controllable actuators. Cable-drive reducers are used to reduce transmission friction and backlash. The first glove prototype contains thumb and index linkage, to finish a grasp demo developed based on the chai3d framework.
The project uses brushless motors with tendon based reducer to construct a high power-desenty actuar with good back-drive ability. The motor driver with current feedback is still in design process. After that, the joint output turque can be controlled via current feedback.
