Multifunctional Device for Assisting Unskilled People in Hand Movements Through the Haptic Point-Based Approach

This paper describes a multifunctional haptic machine, a device that is used for assisting unskilled people in the assessment and training of hand movements. Sketching, hatching and cutting operations are assisted through the multifunctional device by using the haptic point-based approach. The device has enabled users to haptically interact with a 2D virtual template, which acts as a virtual tool path taking advantages of its force feedback capabilities. For sketching, hatching and cutting operations the haptic device is driven under the user movement and assisted through the Magnetic Goemetry Effect (MGE). Two configurations of the multifunctional device have been analyzed; the cartesian and the RR mechanism attached to the PHANTOM device. For sketching and hatching several pencils and pens colors are available. Regarding the cutting operation, a hot wire cutting tool can be replaced for cutting soft materials as expanded and extruded polystyrene foam. This paper discusses the design concept, kinematics and mechanics of the multifunctional haptic device. A brief test using the device in sketching, hatching and cutting operations is also given.