近接覚を備えた遠隔操作型ロボットハンドにおける操作者への物体面情報の提示

抄録

We verified the effectiveness of presentation method of the object plane information by electrotactile stimulation based on proximity sensor outputs. The proximity sensor is able to obtain distance and posture information between the sensor and the object at the area near the object, and mounted on a robot fingertip. If the proximity information is transmitted to the operator, it is useful for the operator to grasp the object in teleoperation robot. Especially, we focused on posture presentation in this paper, by which operator can make the robot fingertip confront the object. The experiment all results show the possibility that the proposed method enables the operator to adjust the grasping posture.