Side-faced-type Multi-fingered Haptic Interface

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...

Haptic object recognition using a multi-fingered dextrous hand

It is becoming increasingly clear that robotic systems need to have capabilities similar to the human haptic system in order to perform complex grasping, manipulation and object recognition tasks using dextrous hands. This paper is an exploration of using a dextrous, multi-fingered hand for high-level object recognition tasks. The paradigm is modelbased recognition in which the objects are mode...