Abstract
The paper deals with the implementation of a McKibben pneumatic muscle in a tele-operation robotic system provided with haptic feedback, aimed to the generation of the perception force at the operator’s fingertip. The architecture of the device is presented and a dynamic model of the system is proposed. A prototype of the device has been tested in dynamic conditions, and the outcomes have been compared with the numerical results, highlighting that the use of a pneumatic muscle is suitable for the actuation of a haptic finger device.
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Franco, W., Maffiodo, D., De Benedictis, C., Ferraresi, C. (2019). Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_30
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DOI: https://doi.org/10.1007/978-3-030-00365-4_30
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Online ISBN: 978-3-030-00365-4
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