Three degrees freedom force feedback Origami - Coggle Diagram
Three degrees freedom force feedback Origami
Composed of four main subsystems
Parallel origami mechanism to transmit the force from the actuators.
Sensors to track the movements of the user's finger at 1kHz
Three back-drivable actuators for force generation
Electronics for the impedance control of the device with a frequency of 1kHz for force rendering.
Miniaturization and scalable manufacturing process simplify integration of haptics.
Replace kinesthetic with cutaneous feedback in the form of pressure locally applied to the skin of user.
Origami robot can effectively miniaturize the complex multi-DoF nechanisms found in large force-rendering interfaces
Designing simpler kinesthetic interfaces equipped with servomotors and 3D-printed links.
The cost and manufacturing can be reduced
Based on the Canfield mechanism with single translational and two rotational DoF.
Based on Delta mechanism with three translational DoF
Under the fingertip produce a force up to 2N emulating the physical sensation interaction with virtual objects or forms
The resulting force is measured at the end-effector using a load-cell
Pushbutton for interaction with objects in VR
The object has a virtual stiffness k, and the haptic interface renders the corresponding resistive force (F = kΔx) to the thumb of the user
Haptics in Education
Tools combining visual and haptic stimuli can aid medical professionals to understand the mechanical behaviour of different body parts before mastering surgery or palpation procedures.
A force feedback joystick for grasping and perceiving the stiffness of virtual objects.
We use a conventional VR system and its hand-held controller to integrate the Pushbutton.