DocumentCode
2746861
Title
SKK Hand Master-hand exoskeleton driven by ultrasonic motors
Author
Choi, B.H. ; Choi, H.R.
Author_Institution
Graduate Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea
Volume
2
fYear
2000
fDate
2000
Firstpage
1131
Abstract
We present an exoskeletal haptic device called SKK Hand Master. The device is semi-directly driven by linkages with ultrasonic motors, which has characteristic features close to cybernetic actuators. In the control of the device, we propose a method of measuring the joint positions and joint torques of the finger and a control method called PWM/PS is presented to overcome the intrinsic disadvantages of ultrasonic motors such as hysteresis. Construction of the device is addressed and several results of experiments for performance evaluation are included
Keywords
force control; haptic interfaces; manipulator kinematics; position control; telerobotics; ultrasonic motors; PWM/PS; SKK Hand Master; cybernetic actuators; exoskeletal haptic device; hand exoskeleton; Actuators; Couplings; Cybernetics; Exoskeletons; Haptic interfaces; Hysteresis motors; Position measurement; Pulse width modulation; Torque control; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.893171
Filename
893171
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