Pushing the limits of the CyberGrasp™ for haptic rendering
Conference Paper
(2013)
Author(s)
Manuel Aiple (European Space Agency (ESA))
André Schiele (TU Delft - Biomechatronics & Human-Machine Control, European Space Agency (ESA))
Research Group
Biomechatronics & Human-Machine Control
DOI related publication
https://doi.org/10.1109/ICRA.2013.6631073
To reference this document use:
https://resolver.tudelft.nl/uuid:68540e30-5758-49ed-a8c0-c5ce974a052c
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Publication Year
2013
Language
English
Research Group
Biomechatronics & Human-Machine Control
Pages (from-to)
3541-3546
ISBN (print)
978-1-4673-5640-1
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.
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