Development of 20 DOF glove type haptic interface device-Sensor Glove II

Summary form only given. We present Sensor Glove II (SGII), a multi-DOF haptic interface, which has 20 degrees-of-freedom. Each joint is driven by an actuator through wire transmission. We measure joint angles by rotary encoders and torques of human fingers by strain-gauges as the stress of links. The operator can interact with the virtual environment simulator by this device. It is also used for teleoperation or telerobotics. The intention is not only that SGII should be used for telecontrol but also that the robot should learn human skills, and so perform more dextrous and intelligent manipulation. SGII acquires information about the complicated movements and forces of human fingers. It is the first step in the development of the Intelligent Assisting System (IAS).