A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

Abstract

We present a finger-mounted 4-degree-of-freedom (DoF) haptic device created using origami fabrication techniques. The 4-DoF device uses a parallel kinematic mechanism and is capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and device footprint. We characterize the bandwidth, workspace, and force output of the device. The capabilities of the device, particularly the torsion degree of freedom, are demonstrated in a virtual reality scenario. Our results show that the device can deliver haptic feedback in 4 DoFs with an effective operational workspace of 0.64 cm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^3$</tex-math></inline-formula> with <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbf {\pm 30 ^ \circ }$</tex-math></inline-formula> rotation at every location. When isolated to a single DoF, the maximum force and torque the device can apply in the x-, y-, z-, and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\boldsymbol{\theta }$</tex-math></inline-formula> -directions are <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 1.0 N, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 1.25 N, 1.6 N, and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 5 N <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbf {\cdot }$</tex-math></inline-formula> mm; the device has an operating bandwidth of 9 Hz.