AUTHOR=Skvortsova Valeria , Nedelchev Simeon , Brown Joshua , Farkhatdinov Ildar , Gaponov Igor 

TITLE=Design, characterisation and validation of a haptic interface based on twisted string actuation

JOURNAL=Frontiers in Robotics and AI

VOLUME=9

YEAR=2022

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2022.977367

DOI=10.3389/frobt.2022.977367

ISSN=2296-9144

ABSTRACT=<p>This paper presents the design and experimental characterisation of a wrist haptic interface based on a twisted string actuator. The interface is designed for controlled actuation of wrist flexion/extension and is capable of rendering torque feedback through a rotary handle driven by the twisted string actuator and spring-loaded cable mechanisms. The interface was characterised to obtain its static and dynamic haptic feedback rendering capabilities. Compliance in the spring and actuation mechanism makes the interface suitable for smooth rendering of haptic feedback of large magnitudes due to the high motion transmission ratio of the twisted strings. Haptic virtual wall rendering capabilities are demonstrated.</p>