Development of haptic device for five-fingered robot hand teleoperation

When we operate a robot hand remotely with teleoperation system, it is difficult for an operator to operate the robot hand collectly without the reaction. Thus, the haptic feedback system is required to provide reaction force in the robot hand to an operator. In this paper, we develop a force feedback device which can present reaction force on operator´s multiple finger knuckles. By using this device, an operator can sense the object which the robot hand grasps with own force sense and we can operate the robot hand more skillfully.