滑り覚を導入した異構造バイラテラル・マスタ・スレイブ・ハンド

抄録

Many studies concerning remote manipulator systems have been published recently. Most of these studies are concerned about using end effectors with limited degrees of freedom.
In order to carry out complicated tasks, it is necessary to develop a bilateral master/slave hand system. We developed a configuration differing bilateral master/slave hand.
A control experiment using force feedback is carried out, and the bilateral servo system for master/slave control is investigated. The necessity of slip sensation feedback in a master/slave hand system is pointed out, and a slip sensation feedback method is suggested and validated through experiments.