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A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction

Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 432)


We present a novel 3RRS wearable fingertip device. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three small servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the users fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip. The axes of the two revolute joints of each leg are parallel, so that it constitutes a 2-DoF planar articulated mechanism, constraining the motion of the center of each spherical joint on a plane fixed with respect to the upper body. The mobile end-effector has therefore 3-DoF with respect to the body. The proposed device weights 25 g for 355048 mm dimensions.


  • Haptic interfaces
  • Wearable haptics
  • Cutaneous devices
  • Fingertip devices

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  • DOI: 10.1007/978-981-10-4157-0_10
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Fig. 1


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The research has received founding from European Union’s Horizon 2020 Research and Innovation Programme, Grant Agreement No. 688857 (SoftPro) and from the European Union Seventh Framework Programme FP7/2007–2013, Grant Agreement No. 601165 (WEARHAP).

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Correspondence to Francesco Chinello .

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Chinello, F., Pacchierotti, C., Malvezzi, M., Prattichizzo, D. (2018). A Novel 3RRS Wearable Fingertip Cutaneous Device for Virtual Interaction. In: Hasegawa, S., Konyo, M., Kyung, KU., Nojima, T., Kajimoto, H. (eds) Haptic Interaction. AsiaHaptics 2016. Lecture Notes in Electrical Engineering, vol 432. Springer, Singapore.

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