Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform

Article

Morad, S., Jaffer, Z. and Dogramadzi, S. 2021. Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform. Journal of Medical Robotics Research. 6 (Art. 2150005). https://doi.org/10.1142/S2424905X21500057
AuthorsMorad, S., Jaffer, Z. and Dogramadzi, S.
Abstract

Previously, a pneumatic design of a fingertip haptic device (FHD) was developed for virtual reality applications. In this paper, the feasibility of representing tissues of varying stiffness is investigated. Physical properties, stiffness and Young’s modulus of the variable compliance platform (VCP) were compared with a set of bolus materials representing soft tissues. Young’s moduli of the bolus materials were ten times higher than those from the VCP, whereas the stiffness was fairly similar. Hence, stiffness is the common parameter that could be used to map the FHD to the bolus materials.

KeywordsSurgical robotics; teleoperation; haptics; pneumatic system; bolus materials
JournalJournal of Medical Robotics Research
Journal citation6 (Art. 2150005)
ISSN2424-905X
Year2021
PublisherWorld Scientific Publishing
Accepted author manuscript
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Anyone
Digital Object Identifier (DOI)https://doi.org/10.1142/S2424905X21500057
Publication dates
Online03 Nov 2021
Publication process dates
Accepted14 Sep 2021
Deposited29 Nov 2021
Copyright holder© 2021 World Scientific Publishing Company
Additional information

Electronic version of an article published as: Morad, S., Jaffer, Z. and Dogramadzi, S., 'Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform', Journal of Medical Robotics Research, (In Press) 2021, https://doi.org/10.1142/S2424905X21500057 © 2021 World Scientific Publishing Company https://www.worldscientific.com/worldscinet/jmrr

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