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This paper presents two possible mechanical designs for a modular haptic device. In a modular haptic device, each module allows the interaction with a scenario by using a single finger, and by adding more modules, multi-finger interaction can be achieved. In this paper, two different mechanical designs for such haptic modules are presented and compared (4-bar and 5-bar mechanisms). This comparison...
Nowadays, almost all kinesthetic haptic devices commercially available have been conceived and developed for just one interaction point. Many mechanical conflicts arise when trying to put to work together two or more conventional haptic devices. Due to collisions and other incompatibilities the resulting workspace when using these configurations is usually too small, making this a non-viable option.
The modeling of a modular robot system is complex due to its capability of changing and forming countless robot configurations with a set of modules. The greater the number of modules added to the structure, more complicated is the robot and its modeling. A methodology to represent modular robot configurations as a fixed shape robot is presented. The equivalent model is obtained through the characterization...
The main objective of this paper is to analyze in some depth the kinematic behaviour of the human hand, in order to obtain a low dimensionality space from the degrees of freedom most important involved in the human grasping behaviour. This low dimensionality allows reconstructing gestures with 24 degrees of freedom. The principal degrees of freedom are obtained by means of Principal Component Analysis...
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