This dissertation presents the design, kinematic analysis, and nonlinear control of a Haptic Glove for medical elastographic imaging virtual palpation. Of the 13 degrees of freedom present in the index finger, middle finger, and thumb of the hand, the design fixes 4, constrains 2 and controls 6 with pneumatic air cylinder actuators, allowing uncontrolled, but measured motion in the remaining 1 degree of freedom. Nearly linear bijective transfer functions between the actuator positions and joint angles are found in closed form for all 6 actuated joints. A nonlinear, sliding-mode controller that allows each actuator to be controlled by a single 5/3 proportional valve is designed and implemented. Test results for typical palpation motions are presented and discussed.

Degree Date

Spring 5-14-2022

Document Type


Degree Name



Mechanical Engineering


Edmond Richer

Second Advisor

Yildirim Hurmuzlu

Third Advisor

Ali Beskok

Fourth Advisor

Nicos Makris

Fifth Advisor

Benno Rumpf

Subject Area

Mechanical Engineering

Number of Pages




Creative Commons License

Creative Commons Attribution-Noncommercial 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial 4.0 License