DocumentCode
2939748
Title
An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints
Author
Nakagawara, Shuhei ; Kajimoto, Hiroyuki ; Kawakami, Naoki ; Tachi, Susumu ; Kawabuchi, Ichiro
Author_Institution
Graduate School of Information Science and Technology The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan; nkgwr@star.t.u-tokyo.ac.jp
fYear
2005
fDate
18-22 April 2005
Firstpage
2667
Lastpage
2672
Abstract
We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.
Keywords
Encounter-type haptic device; Force feedback; Master hand; Telexistence; Exoskeletons; Feedback circuits; Fingers; Force control; Force feedback; Gears; Haptic interfaces; Information science; Master-slave; Robot sensing systems; Encounter-type haptic device; Force feedback; Master hand; Telexistence;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570516
Filename
1570516
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