Active Gripper Parallel Kinematics Haptic Feedback
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Solution Overview
Problem
Existing haptic devices face challenges with workspace requirements, bulkiness, high weight, and complex design, particularly in the display of forces and/or torques to users, limiting their effectiveness in providing realistic haptic feedback.
Innovation Solution
An active gripper with a parallel kinematics structure providing at least three degrees of freedom, featuring multiple contact surfaces and moveable members that allow for active movement and force/torque transmission, including the use of actuators like G-shaped levers, piezo-electric, and electromagnetic actuators, to enhance user interaction and feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If known active gripper designs are used to provide force feedback, then haptic information can be displayed to users, but the device becomes bulky, heavy, and complex
Solution Approach 1:
The gripper is divided into multiple independent contact surfaces (first contact surface, second contact surface, and at least one further contact surface), each capable of independent movement through separate moveable members. This segmentation allows distributed force application across multiple hand contact points, providing realistic haptic feedback while using simpler, modular components rather than a single complex actuation system
Solution Approach 2:
The parallel kinematics structure serves multiple functions simultaneously: it provides workspace positioning, displays forces and torques to the user, and enables multiple degrees of freedom (three translational and one rotational). This multi-functionality eliminates the need for separate mechanisms for each function, reducing overall device complexity while maintaining reliable haptic feedback
2Adaptability or versatility
If complex gripper designs are used for multiple point interaction, then manipulation capabilities are enhanced, but workspace requirements and bulkiness increase
Solution Approach 1:
The contact surfaces and moveable members are arranged in a compact configuration where components are nested within the gripper housing. The parallel kinematics structure allows moveable members to operate within confined spaces, enabling multiple contact surfaces to be integrated without significantly increasing the external dimensions of the gripper
Solution Approach 2:
The gripper utilizes three translational degrees of freedom and one rotational degree of freedom provided by the parallel kinematics structure to achieve complex manipulation capabilities. By operating in multiple dimensional spaces rather than requiring complex mechanical linkages, the design achieves high adaptability within a compact volume
3Reliability
If known active gripper designs are used, then force feedback can be provided, but weight increases
Solution Approach 1:
The patent replaces traditional heavy mechanical actuators with piezoelectric actuators and electromagnetic actuators. These actuators generate the necessary forces and torques for haptic feedback using electrical energy conversion rather than large mechanical motor systems, significantly reducing the weight of the moveable members while maintaining reliable force display capability
Solution Approach 2:
The use of piezoelectric and electromagnetic actuators changes the actuation parameter from mechanical rotation to direct linear displacement or force generation. This parameter change enables compact, lightweight actuator designs that can be integrated into the moveable members without compromising the gripper's ability to display forces and torques to the user
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The active gripper improves haptic feedback by providing a more natural and realistic interaction with virtual or remote environments, enhancing user dexterity and manipulation capabilities, while reducing bulkiness and weight, and offering improved force/torque display.
Implementation Method 1
the use of actuators like G-shaped levers, piezo-electric, and electromagnetic actuators
Implementation Method 2
the use of actuators like G-shaped levers, piezo-electric, and electromagnetic actuators
Data Source
AI summary
An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.