2026-09-19T18:27:36Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/339012022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Lynette A. Jones.
Dobson, Kathleen L. (Kathleen Lynn), 1981-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2006-08-25T18:55:14Z
2006-08-25T18:55:14Z
2005
2005
http://hdl.handle.net/1721.1/33901
66528574
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaves 77-80).
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.
by Kathleen L. Dobson
S.M.
86 leaves
4419009 bytes
4422593 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
A multi finger electromagnetic actuator apparatus for biomechanical studies on the hand
Thesis
application/pdf
Publication
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