1P1-A23 Study on Development of Wearable Mechanism for Livelihood Support : Development of a Master Slave System Hand

Abstract

We are developing a master-slave hand system to use rehabilitation field. This system consists of haptic glove as a master hand, robot hand as a slave hand and a controller. In this report, we describe a new root witch has tree fingers. The robot hand has all most same size of human hand and has three DC motors to drive each fingers, we develop a special mechanism to realize this small hand. And also. We measured torque-current characteristic to get basic data for force feedback control.