Pushing the limits of the CyberGrasp™ for haptic rendering
Conference Paper
(2013)
Author(s)
Manuel Aiple (European Space Agency (ESA))
Andre Schiele (TU Delft - Mechanical Engineering, European Space Agency (ESA))
Research Group
Biomechatronics & Human-Machine Control
DOI related publication
https://doi.org/10.1109/ICRA.2013.6631073
Final published version
To reference this document use
https://resolver.tudelft.nl/uuid:68540e30-5758-49ed-a8c0-c5ce974a052c
More Info
expand_more
expand_more
Publication Year
2013
Language
English
Research Group
Biomechatronics & Human-Machine Control
Article number
6631073
Pages (from-to)
3541-3546
ISBN (print)
978-1-4673-5640-1
Event
2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (2013-05-06 - 2013-05-10), Karlsruhe, Germany
Downloads counter
232
Abstract
The CyberGrasp™ is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation.