Corpus ID: 237940873

A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

@article{Williams2021A4P,
  title={A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback},
  author={Sophia R. Williams and Jacob M. Suchoski and Zonghe Chua and Allison M. Okamura},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.12134}
}
We present a mesoscale finger-mounted 4-degreeof-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to… Expand

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