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 x 3.0 cm x 4.0 cm produced a 600 mN force and displaced individual array elements by 18 mu m.
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机译：本文介绍了一种新型的触觉显示设备力传递系统。该系统由一系列末端执行器元件，一个力/位移传感器和一个产生较大力/位移的致动器组成。它具有郁金香形的静电离合装置，可将来自执行器的力/位移分配给各个末端执行器。确定了三个成分的规格以刺激人的手指触摸。通过使用微机电系统和常规加工技术来制造组件，最后通过手工组装它们。通过实验检查了组装的传动系统的性能，并确认了排列的末端执行器中的每个突起都可以单独移动。在总尺寸仅为3.0 cm x 3.0 cm x 4.0 cm的系统中，执行器产生600 mN的力并将单个阵列元件位移18μm。
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