Slave Robotic Hand Control by Master Glove with Haptic Feedback

Abstract

As technology progresses and robots become more common and accessible, we need better and more intuitive ways of controlling them. Haptics provide the sensory feedback needed to control robots with the same degree of confidence as we control our own bodies. An experimental master glove and slave robotic hand pair is used to test this approach. This is achieved using a motor that acts as both a force actuator and a position sensor, immersing the user in the slave robotic hand’s environment, allowing a much more natural movement and force output on the slave robotic hand.