High Fidelity Multi Finger Haptic Display

The Fingertip Haptic Display (FHD) is a five bar mechanism developed at the University of Washington for haptic interaction with the fingertip of the operator. The twodegree-of-freedom mechanism was computer optimized to accommodate the workspace of the human finger in flexion/extension with a high degree of kinematic isotropy. Direct drive with frictionless flat-coil actuators ensure low torque ripple, inertia, and static friction in the actuation system for high fidelity haptic rendering. This paper describes a redesign of the position sensing arrangement, I/O hardware and software as well as thermal modelling to improve performance and stack four devices for use with index, middle, ring and little finger in a multifinger haptic display. Promising applications are expected to include palpation training for medical personnel, museum displays enabling the visitor to “touch” art, as well as psychophysics research: exploring the limits of human touch perception.

• Type: Conference
• Year: 2005
• Where: HAPTICS
• Authors: Rainer Leuschke, Elizabeth K. T. Kurihara, Jesse Dosher, Blake Hannaford
• Keywords: Fingertip Haptic Display, Haptic Display, HAPTICS 2005, Virtual Reality, fidelity Haptic Rendering