抄録
Many kinds of robot hands intended to manipulate objects have been developed. But it is difficult for robots to manipulate an object which has unknown frictional state and weight surrounded by many other objects. On the other hand, it is easy for a person to manipulate such an object because we have haptic sense such as force and tactile sense on our body, and we utilize them effectively in manipulating such an object. In this study, to teach sensor-based object manipulation skills to robots, we have developed a wearable operation device as a master device and an end effector as a slave device of a master-slave system that can transfer the haptic information from the robot to the operator.
