Symmetry-Based Modeling and Hybrid Orientation-Force Control of Wearable Cutaneous Haptic Device
Somang Lee,Hyunsu Kim,Dongjun Lee,Somang Lee,Hyunsu Kim,Dongjun Lee
We propose novel symmetry-based modeling and hybrid orientation-force control frameworks for cutaneous haptic device (CHD) to generate precise three degree-of-freedom (DoF) contact force on the fingertip robustly against user variability. The CHD hardware is designed in a form of an underactuated cable-driven parallel mechanism, with springs placed along the tendon to stabilize the pose. We analyz...
