Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Author

Verner, Lawton N. ; Okamura, Allison M.

Author_Institution

Dept. of Mech. Eng., The Johns Hopkins Univ., Baltimore, MD

fYear

2007

fDate

22-24 March 2007

Firstpage

286

Lastpage

291

Abstract

Many high-degree-of-freedom haptic devices and teleoperator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We developed a system for adding an additional DOF of grip force feedback on a 3-DOF Phantom haptic device master, as well as 6-DOF force/torque sensing on each "finger" of a coupled gripper on a Phantom haptic device slave. The internal (grip) and external (translational) forces were measured as users performed a soft peg-in-hole task with various DOFs of force feedback: (1) full force feedback, (2) translational force feedback only, (3) grip force feedback only, and (4) no force feedback. Results show that the level of force applied in the translational and gripping DOFs are decoupled for a 3-DOF telemanipulator with added grip force feedback. This is likely due to the decoupled dynamics of internal and external hand forces

Keywords

dexterous manipulators; force feedback; force sensors; grippers; haptic interfaces; telerobotics; Cartesian force feedback; degree-of-freedom telemanipulator; external force; force sensor; gripping force feedback; haptic devices; internal force; phantom haptic device master; teleoperator systems; torque sensor; translational force feedback; Fingers; Force feedback; Force measurement; Grippers; Haptic interfaces; Imaging phantoms; Master-slave; Performance evaluation; Teleoperators; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint

Conference_Location

Tsukaba

Print_ISBN

0-7695-2738-8

Type

conf

DOI

10.1109/WHC.2007.46

Filename

4145189