力覚情報の提示と接触パラメタの同定を伴う多指ハンドの遠隔操作の研究

抄録

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.