Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In this study, a force feedback device that acts directly on finger joints using a tendon-driven mechanism with multiple tendons is developed. Attaching three tendons directly on the finger without links reduces the user’s burden and presents multi-directional force feedback. Furthermore, since it is difficult to model the proposed structure accurately, the moment arm of the tendons for the joint axis was obtained through measurement experiments with the developed device. Finally, we validated the fingertip force while driving the developed device through the experiment. The results showed the possibility of controlling the direction of the force feedback by the proposed method.
