A multi finger electromagnetic actuator apparatus for biomechanical studies on the hand
Author(s)Dobson, Kathleen L. (Kathleen Lynn), 1981-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Lynette A. Jones.
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The focus of this thesis was on the design and construction of a multi-finger haptic device powered by electromechanical voice-coil actuators. Five actuators were designed and constructed and a position and force feedback control system was implemented for each. The maximum continuous force output for each actuator ranged from 12-16 N, which is about 15%-30% of the maximum force that can be exerted by an individual finger. The bandwidth of the controlled actuators ranged from 0.7 Hz to 1.7 Hz, the steady-state error was zero, and the overshoot ranged from 3.5% to 7.7%. Four actuators were constructed into an array, with finger contact points 23 mm apart. Additional structures, such as finger holders and a wrist rest, were developed to complete the human interface. With further modifications, the multi-finger apparatus can be used to conduct biomechanical and perceptual studies of the human hand.
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (leaves 77-80).
DepartmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology