1A1-J02 人間型ハンドロボットの遠隔操作の研究(ロボットハンドの機構と把持戦略(1))

抄録

Haptics is an important issue as well as auditory and visual sensation when considering remote interaction between people, and people and objects. The authors have been developing a teleoperation system that controls a remote hand robot by a haptic interface. This paper reports the extension of the system that attaches an robot arm to the existing robot hand. This improvement enables remote operation in a wide working area. In order to improve the operability of the hand robot, a new control method is proposed that takes into account the amount of change of the hand robot's wrist position and orientation.