抄録
We have developed a haptic glove system to use rehabilitation field, e.g. rehabilitation robotics system. This glove has angle sensors to detect each finger position and small balloons inside of the glove to present a force to the user who wear the glove by pressurized air. This glove makes it possible to give angle information of each finger to slave hand system, and also to present the force which is detected the slave hand to the glove user. To control this force feedback system, we use PWM control method to show the quantity of the force. Force affecting the user is updated by a frequency of 10Hz and has several steps resolution. Total weight of this glove with haptic feedback capabilities is less than 200 grams. We tried to use this glove as a master-slave hand system, we could feel the slave hand force though haptic glove like a real force.
