background image

Origami inspired 
haptic glove


background image

Background

haptic devices

HCI devices with both input and output functions, rendering feedback force to the user, reconstructing 
the perception of interaction with the real environment.

CAD

Teleoperation

Medical training

Rehabilitation

Aplic

ations


background image

Ground based devices

&

Wearable devices

CONS:Weight & size limit, too many actuated joints on human hand

PROS:Multiple feedback tips, a more natural way for users to interact

|

CyberGrasp

|

Wolverine

|

HIRO3

PROS:Less limitations on actuator weight & device size

CONS:Limited workspace, fewer actuated DOFs

|

Falcon

|

Phantom

|

Touch Pro X

|

Force Dimension

|

HEXOTRAC

|

SEU指尖设备


background image

4DOF

Joints of human hand

DIP

CMC

MCP

PIP

Thumb

Index

Middle~

Small~

Ring~

CMC

– For thumb - 2DOF

MCP

– For all 5 fingers - 2DOF/1DOF

PIP

– For 4 fingers aside from Thumb - 1DOF

DIP

– For all fingers - 1DOF  

MCP

CMC

PIP,DIP

Simplified finger kinematics model

Workspace simulation


background image

Device overview

Actuator

– High power density

Highly backdrivable

Finger structure

Connect device & user fingertip
Small friction
Include user’s finger workspace

Finger pose tracking

Map user’s fingertip to virtual env
High refresh rate, high precision
(Optitrack etc.)

Device

Light weight & comfortable to wear

Palm shell

Origami finger structure

Controller

Actuator

Encoder


background image

Origami inspired brake - passive brake

Origami jaws

– holds the frication disk when actuated 

1 CAD设计并展开

2 加工底层

3 对齐并加工顶层

4 柔性层

5 层压

6 切割轮廓,脱离

7 折叠为夹爪

Rotates freely

Brake


background image

Brake actuator

Motor

Guiding wheel

Reducer 
disk

Tendon reducer

Actuated 
wire

Force sensor

Tendon reducer - light weight & low friction

Force sensor

– FSR400

Force control

– PI controller

Origami inspired brake - passive brake


background image

background image

Origami finger structure

Provide feedback force to user’s fingertip with lightweight origami structure
Flexible & adapts to different finger size

Origami unit

– convert actuated torque to linear force

Actuator

Encoder

Finger structure

Finger shell

Pic Source - Kirigami Haptic Swatches: Design Methods for 
Cut-and-Fold Haptic Feedback Mechanisms


background image

Origami finger structure

Covers user’s finger workspace

FK,IK for user’s finger tip

Workspace simulate

Red – user’s finger
Blue – finger structure


background image

Controller

STM32F446RE 

controller & 

3*DRV8313 brushless driver

9V*1.5A max

3*IIC 

\

1*CAN 

\

1*SPI 

\

2*UART

AS5600  encoder

SimpleFOC open-source FOC control firmware

Sub-controller for origami brake

ATmega328P 

controller & 

1*DRV8313*DRV8833

Motor driver
Force sensor AD
1*IIC 

\

1*SPI 

\

1*UART


background image

Demo in chai 3d – virtual button

Virtual button

User’s virtual finger

Leap Motion

Origami haptic glove


background image

background image

System diagram

Controller

Actuator

Origami structure

Reality env

User’s hand

For

ce

Desired torque

driver

Demo chai3d & ubuntu

IK

Force to 

torque

Virtual env

Virtual tip

Force

Virtual object

3d model

Depth

camera

Leap 

Motion

Finger pose tracking

Fing

er pos

e


background image

Experiments & verification
still not finished…