Design and Kinematics Analysis for the SMU Haptic Glove
Published in Mechanism and Machine Theory, 2026
This paper presents the mechanical design and kinematic analysis of SMU Haptic Glove, which incorporates seven degrees of freedom (DOF) that are pneumatically actuated and developed for 3D elastographic imaging virtual palpation. This paper outlines the mechanical design of the SMU Haptic Glove The two-dimensional workspace for each finger and the glove’s three-dimensional workspace are determined from the actuator positions using closed-form expressions based on the design geometry and are measured using embedded linear sensors.
Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469
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