Archive for Октябрь 31st, 2002

Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation

Дата: Октябрь 31st, 2002 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7365
  • Название документа: Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous TeleoperationНе заполнено
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Tatsuya Koyama, Ikuo Yamano, Kenjiro Takemura, Takashi Maeno
  • Правопреемник/учебное заведение: Keio University
  • Дата публикации документа: 2002-10-31
  • Страна опубликовавшая документ: Япония
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Не заполнено
  • Вложения: Да
  • Аналитик: Глаголева Елена

A novel control methodology for master-slave systems using passive force feedback has been proposed by the authors. The methodology solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and compli-cated control algorithm. In the present paper, a multi-fingered exoskeleton haptic device (master hand) with passive force feedback function is developed. First, the exoskeleton master hand with three fingers (12 degrees of freedom) is designed and implemented. Each finger of the master hand consists of a link me-chanism with elastic-shaft joints and clutches. Using link mechanisms, the master hand measures fingertip positions and angles of index finger, middle finger and thumb. Furthermore, it also enables passive force feedback to an operator by the same link mechanism used for the geometric measurements. Then, a virtual reality system of human hand is constructed using the master hand and the control methodology. Using the system, sensory evaluations are conducted on human subjects to confirm the usability of the developed master hand and the possibility of the control methodology in the virtual reality system. As a result, the subjects possibly recognize the stiffness of the objects in the virtual environment.

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