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Robotics 2019, 8(1), 13; https://doi.org/10.3390/robotics8010013

Use of McKibben Muscle in a Haptic Interface

Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, Italy
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This paper is an extended version of our paper published in Franco, W.; Daniela, M.; Benedictis, C.D.; Ferraresi, C. Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle. In Proceedings of the IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 August 2018.
Received: 17 January 2019 / Revised: 9 February 2019 / Accepted: 14 February 2019 / Published: 18 February 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
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Abstract

One of the most relevant issues in the development of a haptic interface is the choice of the actuators that are devoted to generating the reflection forces. This work has been particularly focused on the employment of the McKibben muscle to this aim. A prototype of one finger has been realized that is intended to be part of a haptic glove, and is based on an articulated mechanism driven by a McKibben muscle. A dynamic model of the finger has been created and validated; then, it has been used to define the control algorithm of the device. Experimental tests highlighted the static and dynamic effectiveness of the device and proved that a McKibben muscle can be appropriately used in such an application. View Full-Text
Keywords: pneumatic artificial muscle; McKibben muscle; haptic glove; hand exoskeleton; teleoperation; force reflection; human-machine interaction pneumatic artificial muscle; McKibben muscle; haptic glove; hand exoskeleton; teleoperation; force reflection; human-machine interaction
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Franco, W.; Maffiodo, D.; De Benedictis, C.; Ferraresi, C. Use of McKibben Muscle in a Haptic Interface. Robotics 2019, 8, 13.

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