@article{sasaki_force_2006,
	title = {A force transmission system based on a tulip-shaped electrostatic clutch for haptic display devices},
	volume = {16},
	issn = {0960-1317},
	url = {http://stacks.iop.org/0960-1317/16/i=12/a=021},
	doi = {10.1088/0960-1317/16/12/021},
	abstract = {This paper describes a novel type of force transmission system for haptic display devices. The system consists of an array of end-effecter elements, a force/displacement transmitter and a single actuator producing a large force/displacement. It has tulip-shaped electrostatic clutch devices to distribute the force/displacement from the actuator among the individual end effecters. The specifications of three components were determined to stimulate touched human fingers. The components were fabricated by using micro-electromechanical systems and conventional machining technologies, and finally they were assembled by hand. The performance of the assembled transmission system was experimentally examined and it was confirmed that each projection in the arrayed end effecters could be moved individually. The actuator in a system whose total size was only 3.0 cm × 3.0 cm × 4.0 cm produced a 600 mN force and displaced individual array elements by 18 µm.},
	language = {en},
	number = {12},
	urldate = {2017-05-16TZ},
	journal = {Journal of Micromechanics and Microengineering},
	author = {Sasaki, Hikaru and Shikida, Mitsuhiro and Sato, Kazuo},
	year = {2006},
	pages = {2673}
}

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