Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove

Charith Lasantha Fernando, Masahiro Furukawa, Kouta Minamizawa, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper describes a new type of robust control mechanism for a 15 DOF anthropomorphic robot hand in telexistence manipulations using a flexible fiber based master glove to experience the visual-kinesthetic sensation of one's own hand in remote manipulations. Accordingly, a master-slave telexistence system was constructed with the following: a 14 DOF modified optical fiber based data glove for capturing the complex finger postures of the master operator without any mechanical constraints; a novel finger posture mapping algorithm that is independent from the effects of different finger sizes and digit ratios; and a 15 DOF anthropomorphic slave robot hand for reconstructing the operators finger posture. This paper describes the importance of feeling one's fingers in a telexistence manipulation, control mechanism for accurate finger posture capture/reconstruction where the effectiveness has been verified through a set of experiments and a subjective evaluation.

Original languageEnglish
Title of host publicationProceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
PublisherIEEE Computer Society
Pages20-27
Number of pages8
ISBN (Print)9784904490112
DOIs
Publication statusPublished - 2013
Event23rd International Conference on Artificial Reality and Telexistence, ICAT 2013 - Tokyo, Japan
Duration: 2013 Dec 112013 Dec 13

Publication series

NameProceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013

Other

Other23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
CountryJapan
CityTokyo
Period13/12/1113/12/13

Keywords

  • 1.2.9 [Artificial Intelligence]: Robotics - Kinematics and dynamics
  • H.4.3 [Information Systems Applications]: Communications Applications - Computer conferencing, teleconferencing, and videoconferencing

ASJC Scopus subject areas

  • Artificial Intelligence

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