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A Cost-Effective, Integrated Haptic Device for an Exoskeletal System

The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revea...

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Detalles Bibliográficos
Autores principales: Rećko, Maciej, Dzierżek, Kazimierz, Grądzki, Rafał, Živčák, Jozef
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9737368/
https://www.ncbi.nlm.nih.gov/pubmed/36502210
http://dx.doi.org/10.3390/s22239508
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author Rećko, Maciej
Dzierżek, Kazimierz
Grądzki, Rafał
Živčák, Jozef
author_facet Rećko, Maciej
Dzierżek, Kazimierz
Grądzki, Rafał
Živčák, Jozef
author_sort Rećko, Maciej
collection PubMed
description The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revealed that there is space for new designs of haptic devices with such features. To determine the feasibility of the proposed solution, a series of simulations and experiments were conducted to verify the adopted design concept. The focus was set on an investigation of the force of attraction between one and two magnets interacting with a steel plate. Further, a physical model of an integrated joint was fabricated, and its performance was evaluated and compared to a similar commercially available device. The proposed solution is cost-effective due to the use of standard parts and inexpensive components. However, it is light and assures a 19 Nm braking torque adequate for the intended use as a haptic device for upper limbs.
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spelling pubmed-97373682022-12-11 A Cost-Effective, Integrated Haptic Device for an Exoskeletal System Rećko, Maciej Dzierżek, Kazimierz Grądzki, Rafał Živčák, Jozef Sensors (Basel) Article The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revealed that there is space for new designs of haptic devices with such features. To determine the feasibility of the proposed solution, a series of simulations and experiments were conducted to verify the adopted design concept. The focus was set on an investigation of the force of attraction between one and two magnets interacting with a steel plate. Further, a physical model of an integrated joint was fabricated, and its performance was evaluated and compared to a similar commercially available device. The proposed solution is cost-effective due to the use of standard parts and inexpensive components. However, it is light and assures a 19 Nm braking torque adequate for the intended use as a haptic device for upper limbs. MDPI 2022-12-05 /pmc/articles/PMC9737368/ /pubmed/36502210 http://dx.doi.org/10.3390/s22239508 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Rećko, Maciej
Dzierżek, Kazimierz
Grądzki, Rafał
Živčák, Jozef
A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title_full A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title_fullStr A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title_full_unstemmed A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title_short A Cost-Effective, Integrated Haptic Device for an Exoskeletal System
title_sort cost-effective, integrated haptic device for an exoskeletal system
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9737368/
https://www.ncbi.nlm.nih.gov/pubmed/36502210
http://dx.doi.org/10.3390/s22239508
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