Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation

Tatsuya Koyama, Ikuo Yamano, Kenjiro Takemura, Takashi Maeno

Research output: Contribution to conferencePaper

62 Citations (Scopus)

Abstract

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 complicated 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 mechanism 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.

Original languageEnglish
Pages2905-2910
Number of pages6
Publication statusPublished - 2002 Jan 1
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation'. Together they form a unique fingerprint.

  • Cite this

    Koyama, T., Yamano, I., Takemura, K., & Maeno, T. (2002). Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation. 2905-2910. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.