Multi-Fingered Haptic Interface Robot and its Application Systems

Multi-Fingered Haptic Interface Robot and Its Application Systems

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered h...

Mixed Control of Multi-fingered Haptic Interface Robot with Operator’s Uneasy Feeling in Mind

Abstract— This paper presents a mixed control of multi-fingered haptic interface robot consisting of a 6 DOF arm and a 15 DOF hand. The interface is placed opposite the human hand and presents force and tactile feeling to the fingertips. In order to reduce the uneasy feeling in the operator, a mixed control consisting of a finger force control and an arm position control intended to maximize th...

Virtual Robot Teaching for Humanoid Both-Hands Robots Using Multi-Fingered Haptic Interface

Development of a Surgical Knife Device for a Multi-Fingered Haptic Interface Robot

This paper presents the design of a surgical knife device for a multi-fingered haptic interface robot called HIRO, and summarizes the experimental results. HIRO consists of a robot arm and a five-fingered hand, and is able to handle the tool with fingers. A variety of tools can be attached to HIRO, and the system is therefore able to present the force sensation of many tool-type devices. For ex...

Regrasping Control by Multi-fingered Robot Hand

In this paper, a smooth regrasping control method of multi-fingered robot hand is proposed. First, four-fingered robot hand with 13 joints was built. Second, manipulation and grasping algorithm of four-fingered robot hand is easily calculated by applying the algorithm made for three-fingered robot hand to the two pairs of three-fingered robot hand. In order to reduce the vibration generated whi...