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Resources

Finite Element Models

Comparing Lump Detection by Human and Artificial Tactile Sensing

Finite Element Method (FEM) model of human finger interacting with embedded lumps of different sizes and depths.Download Abaqus Input File
Finite Element Method (FEM) model of artificial tactile sensor interacting with embedded lumps of different sizes and depths.Download Abaqus Input File
Nodal coordinates for both models are in millimeters, and material parameters are in MPa. See Paper for material property values and applied boundary conditions.

Stereoscopic Vision System

With the Raven-II we use a pair of Point Grey Flea3 cameras and a Samsung UN46FH6030 3D TV to display the Raven's manipulators to the user. The camera mount allows both the view angle and the distance between the cameras to be adjusted. It is designed to be laser cut from 1/8" acrylic and can be attached to either English or Metric 80/20.Download the SolidWorks files
  The source code used in our stereoscopic visualization system for teleoperation is hosted on https://github.com/cliffbar/Stereoscopic_3D_Display. A .zip file is also available for download here. Download the source code Δ

OmniGrip Haptic Device

The OmniGrip is a master manipulator gripper device capable of rendering a programmed stiffness. This open source project aims to add a seventh degree of freedom to the conventional Sensable Touch (Phantom Omni) haptic device. The project's files can be found at our github repository.

3-DoF Skin deformation haptic device

The 3-DoF skin deformation haptic device is a tactile haptic device that is capable of rendering translational skin deformation cues to your index finger, middle finger, and thumb, without imparting any physical forces to the user. The Solidworks design files (which include the parts and the complete assembly) can be downloaded here. Download the SolidWorks files and other part information for rc-servo powered 3-DoF skin deformation device

Download the SolidWorks files and other part information for Micromo 1516 DC-motor powered 3-DoF skin deformation device