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
CountryJapan
CityTokyo
Period13/12/1113/12/13

ASJC Scopus subject areas

  • Artificial Intelligence

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