Development of leader hand for one-hand operation in remote control

Abstract

In recent years, technology has developed to use teleoperated robots to perform missions in hazardous areas and medical surgeries. In this teleoperation, two robots, a leader and a follower, are used in the leader-follower system. The reader is operated by a human operator, and the follower moves in synchronization with the angle information of the reader. In this method, a manipulator-like robot with two arms can reproduce complex movements of a human being. However, the leader must be operated with one hand in order to have dual arms, which is difficult to achieve with conventional manipulators. Therefore, we developed the shape of the hand to enable manipulator operation with one hand.