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

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
出版社IEEE Computer Society
ページ20-27
ページ数8
ISBN(印刷版)9784904490112
DOI
出版ステータスPublished - 2013
イベント23rd International Conference on Artificial Reality and Telexistence, ICAT 2013 - Tokyo, Japan
継続期間: 2013 12 112013 12 13

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 人工知能

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