This paper presents an integrated approach to the mechanical design of a haptic interface for the hand. The presented approach evaluates the performance of the mechanism functionally to the task to be executed. A kinematics model of the hand is introduced in order to specifically characterize the influence of hand movements on the performance of the mechanism. After the identification of critical factors, the dimensions of the mechanism have been optimized as a function of them. A geometrical approach is presented to solve the Inverse Kinematic Problem and the singularity analysis.

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