Design of a novel Three-Finger haptic grasping system

Present day haptic devices have yet to achieve multi-finger kinesthetic plus tactile feedback. This paper discusses the design of a Three-Finger gripper module that can attach to a commercial haptic device like the Novint Falcon. It will mimic grasping and lifting action and provide kinesthetic feedback via the Falcon and tactile feedback via the gripper. We first present a study on the forces exerted and typical angle and orientation of fingers while lifting or grasping an object. Based on the results obtained, we present a custom designed Three-Finger gripper module that fits on to the Novint Falcon. We show that when the user places his fingers in the finger holders and when the motors are actuated, the finger holders pull on the users' fingers and provide the required sensation.