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

  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)},
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
Highly Cited
This paper has 64 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 17 extracted citations

65 Citations

Citations per Year
Semantic Scholar estimates that this publication has 65 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 26 references

Similar Papers

Loading similar papers…