The Rutgers Master II-ND force feedback glove

Mourad Bouzit, George Popescu, Grigore Burdea, Rares Boian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

71 Scopus citations

Abstract

The Rutgers Master II-ND glove is a follow up on the earlier Rutgers Master II haptic interface. The redesigned glove has all the sensing placed on palm support, avoiding routing wires to the fingertips. It uses custom pneumatic actuators arranged in a direct-drive configuration between the palm and the thumb, index middle and ring fingers. The supporting glove used in the RMII design is eliminated, thus the RMII-ND can better accommodate varying hand sizes. The glove is connected to a haptic control interface that reads its sensors and servos its actuators. The interface pneumatic pulse-width modulated servo-valves have higher bandwidth than those used in the earlier RMII, resulting in better force control. A comparison with the CyberGrasp commercial haptic glove is provided.

Original languageEnglish (US)
Title of host publicationProceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages145-152
Number of pages8
ISBN (Electronic)0769514898, 9780769514895
DOIs
StatePublished - 2002
Event10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002 - Orlando, United States
Duration: Mar 24 2002Mar 25 2002

Publication series

NameProceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002

Other

Other10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
Country/TerritoryUnited States
CityOrlando
Period3/24/023/25/02

All Science Journal Classification (ASJC) codes

  • Human Factors and Ergonomics
  • Computer Science Applications
  • Human-Computer Interaction
  • Hardware and Architecture
  • Mechanical Engineering

Keywords

  • Fingers
  • Force feedback
  • Haptic interfaces
  • Pneumatic actuators
  • Pulse modulation
  • Routing
  • Servomechanisms
  • Space vector pulse width modulation
  • Thumb
  • Wires

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