Tele-control between operator’s hand and multi-fingered humanoid robot hand with delayed time

This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operator´s finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of Round Trip Time (RTT) as Osec, 0.56sec, using a multi-fingered humanoid robot hand by master/slave control feeling fingertip force. However, with increases in the RTT, the operation became more difficult. We also analyzed the stability of the master site and the slave site by frequency characteristics. The results showed that this system was unstable. However, grasping by tele-control with a communication delay was demonstrated.