1P1-C10 2本指マスターハンドを用いたロボットアームハンドシステムの遠隔操作(ハプティックインタフェース)

抄録

We developed a master slave teleoperation system of robot manipulators. This system has force feedback function. The master part of this system has two haptic devices and the slave part has a manipulator composed a robot arm and a two-fingered robot hand. This system can control both a robot arm and a robot hand by using mode changes, so operators can control the manipulator by using only their two fingers of one hand. We experimented in two methods. One is a spring device experiment. As a result, operators could distinguish softness of objects. The other is peg-in-hole task experiment. As a result, operability was improved for force feedbacks.