Design Method of Multifingered Master Manipulator with Force and Tactile Feed-back Free from Operation Restriction by Mechanism

Abstract

This paper propose design method for easier operational master arm with fingers. New finger configuration shows operator's finger construction is reduced, when he installs and operates the master finger. It has force generation mechanisms and tactile feeling generation mechanisms with 4 generation cells which are actuated by pneumatic servo control system to reduce the operating inertia force and improve the operationability.
Since master arm has also pneumatic force feed back control system, its mass or operating inertia force is very small and resolution of force is high. This finger and arm is assembled and is verified that master slave control is highly improved by this fingered master manipulator.