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

4 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
Publication statusPublished - 2013
Event23rd International Conference on Artificial Reality and Telexistence, ICAT 2013 - Tokyo, Japan
Duration: 2013 Dec 112013 Dec 13

Other

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

Fingerprint

Anthropomorphic robots
End effectors
Robust control
Optical fibers
Fibers
Experiments

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

Cite this

Fernando, C. L., Furukawa, M., Minamizawa, K., & Tachi, S. (2013). Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove. In Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013 (pp. 20-27). [6728901] IEEE Computer Society.

Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove. / Fernando, Charith Lasantha; Furukawa, Masahiro; Minamizawa, Kouta; Tachi, Susumu.

Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013. IEEE Computer Society, 2013. p. 20-27 6728901.

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

Fernando, CL, Furukawa, M, Minamizawa, K & Tachi, S 2013, Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove. in Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013., 6728901, IEEE Computer Society, pp. 20-27, 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013, Tokyo, Japan, 13/12/11.
Fernando CL, Furukawa M, Minamizawa K, Tachi S. Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove. In Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013. IEEE Computer Society. 2013. p. 20-27. 6728901
Fernando, Charith Lasantha ; Furukawa, Masahiro ; Minamizawa, Kouta ; Tachi, Susumu. / Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove. Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013. IEEE Computer Society, 2013. pp. 20-27
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