Experimental Consideration on Requirements Specification of Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand for Teleoperation of Robot Hand

Abstract

Teleoperated rescue robots have recently been on demand. However, it is known that the teleoperation of a robot hand mounted on a rescue robot is difficult. Therefore, we proposed a new haptic device that presents a haptic sensation for the teleoperation of a robot hand. The device stimulates the back of the hand instead of the palm of the operator. The determination of the required specifications by an experiment with subjects is presented in this paper. To design the device, the interval of the stimulation points (i), the diameter of the stimulation point (d), and the force of the stimulation (f) should be optimized. From the experimental results, we found that the accuracy rate was highest, when (i, d, f) = (30mm, 6mm, 0.9kgf). Moreover, we considered the decided specification in an additional experiment.