ロボットハンド操作のための力覚呈示デバイスの開発 MP関節およびDIP-PIP関節への力覚呈示

猪飼 丈爾

doi:10.11511/jacc.53.0.240.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 512

DOI https://doi.org/10.11511/jacc.53.0.240.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Robot Interaction 1

Development of the force feedback device for manipulating robot hand

Force feedback to MP joint and DIP-PIP joint

*George Ikai

Author information

Keywords: Force Feedback, Haptic, Teleoperation, Robot Hand

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

When we operate a robot hand remotely with tele-operation system, it is difficult to operate the robot hand collectly because of the reaction force without. Thus the haptic feedback system is required to provide reaction force resulting in the robot hand to an operator. In this paper, we develop the force feedback device to present reaction force in an operator when the robot hand grasping an object.
Force feedback device present reaction force in distal segment and basipodite.The device is very compact and lightweight by using a Shape Memory Arroy as an actuator.

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