Control of dexterous hand master with force feedback

Both five-finger dexterous hand master (NTU master) and dexterous hand slave (NTU hand) have been developed. The NTU master is driven by tendons and the force feedback is applied by remote electric motors via flexible cable. The NTU master is ten degree-of-freedoms, light weight, portable, easy to wear and has large workspace. In this paper, a DSP-based bilateral control between the master and the slave is developed so that the master can transmit the motion to the slave and receive the perceptual information from the slave by the control. A prediction method is proposed to resolve the time delay due to communication