A multi finger electromagnetic actuator apparatus for biomechanical studies on the hand

The focus of this thesis was on the design and construction of a multi-finger haptic device powered by electromechanical voice-coil actuators. Five actuators were designed and constructed and a position and force feedback control system was implemented for each. The maximum continuous force output for each actuator ranged from 12-16 N, which is about 15%-30% of the maximum force that can be exerted by an individual finger. The bandwidth of the controlled actuators ranged from 0.7 Hz to 1.7 Hz, the steady-state error was zero, and the overshoot ranged from 3.5% to 7.7%. Four actuators were constructed into an array, with finger contact points 23 mm apart. Additional structures, such as finger holders and a wrist rest, were developed to complete the human interface. With further modifications, the multi-finger apparatus can be used to conduct biomechanical and perceptual studies of the human hand.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2005

Author dc:creator

• Dobson, Kathleen L. (Kathleen Lynn), 1981-

Advisor dc:contributor.advisor

• Lynette A. Jones.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/33901

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/33901