Title :
An exoskeleton force feedback master finger distinguishing contact and non-contact mode
Author :
Fang, Honggen ; Xie, Zongwu ; Liu, Hong ; Lan, Tian ; Xia, Jinjun
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator´s finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.
Keywords :
control engineering computing; dexterous manipulators; digital signal processing chips; feedback; field programmable gate arrays; peripheral interfaces; DLR-HIT dexterous hand; DSP; FPGA; PCI bus; contact mode; digital signal processing; exoskeleton force feedback master finger; exoskeleton mechanism; field programmable gate array; free motion; low-voltage differential signaling; master-slave operation; natural contact sensation; noncontact mode; peripheral component interface; serial data bus; virtual work; Data communication; Delay; Digital signal processing; Exoskeletons; Field programmable gate arrays; Filtering theory; Fingers; Force feedback; Kernel; Master-slave;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229726