Teleoperation of Multi-fingered Hand with the Presentation of Force and the Identification of Contact Parameters

Abstract

In this paper, we construct a master-slave system with two 4-finger 12-d.o.f. hands composed of inexpensive servo motors. Six-axis force sensors mounted in all fingertips, and the system gives the presentation of force to a human operator. A bilateral control method is implemented, in which joint angles of the master is sent to the slave and the force of the slave is sent to the master. TCP/IP is used for the communication between the master and slave. In order to evaluate the characteristics of the master system, a virtual slave force input is applied to the master. Using the master-slave system, a grasping operation of an object is also performed with the presence of force. Contact parameters are also identified using the force information in the operation task.