DocumentCode
2379073
Title
Design and evaluation of a bilateral master-slave hand system
Author
Yoshida, Koichi ; Yabuta, Tetsuro
Author_Institution
Telecommun. Field Syst. R&D Center, NTT Corp., Ibaraki, Japan
fYear
1993
fDate
3-5 Nov 1993
Firstpage
402
Lastpage
407
Abstract
A prototype bilateral master-slave hand system has been developed. Both the master and slave hands consist of three robot fingers using 3 degree-of-freedom (DOF) small manipulators each equipped with 3-axis force sensor to enable force feedback to the operator. In this paper, the master-slave hand system is described, and the system performance is evaluated based on the concept of the two-terminal pair network. Simulation results are reported which show that this master-slave hand system, using a bilateral control algorithm which was proposed previously, can realize almost ideal response in the low-frequency domain
Keywords
feedback; manipulators; telerobotics; 3-axis force sensor; bilateral control algorithm; bilateral master-slave hand system; force feedback; low-frequency domain; robot fingers; two-terminal pair network; Control systems; Fingers; Force sensors; Manipulators; Master-slave; Orbital robotics; Robot kinematics; Robot sensing systems; Servomechanisms; Servomotors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Communication, 1993. Proceedings., 2nd IEEE International Workshop on
Conference_Location
Tokyo
Print_ISBN
0-7803-1407-7
Type
conf
DOI
10.1109/ROMAN.1993.367684
Filename
367684
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