A wearable fingertip haptic device with 3 DoF asymmetric 3-RSR kinematics

@article{Leonardis2015AWF,
  title={A wearable fingertip haptic device with 3 DoF asymmetric 3-RSR kinematics},
  author={Daniele De Leonardis and Massimiliano Solazzi and Ilaria Bortone and Antonio Frisoli},
  journal={2015 IEEE World Haptics Conference (WHC)},
  year={2015},
  pages={388-393}
}
A novel wearable haptic device for modulating skin stretch at the fingertip is presented. Rendering of skin stretch in 3 degrees of freedom (DoF), with contact - no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace and minimum inter-finger interference. A differential method for solving the non-trivial inverse kinematics… CONTINUE READING
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