Development of Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback

Abstract

A control methodology for master-slave systems using passive force feedback has proposed by the authors. The methodology solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and complicated control algorithm. In the present paper, a multi-fingered exoskeleton haptic device (master hand) with passive force feedback function is developed. First, the exoskeleton master hand with three fingers (12 degrees of freedom) is designed and produced. Each finger of the master hand consists of a link mechanism with elastic-shaft joints and clutches. The master hand makes fingertip positions and angles of index finger, middle finger and thumb to be measured using link mechanisms. Furthermore, it also enables passive force feedback to an operator by the same link mechanism used for the geometric measurements. Then, a virtual reality system of human hand is constructed using the master hand and the control methodology. Using the system, sensory evaluations are conducted to confirm the usability of the developed master hand and the possibility of the control methodology in virtual reality system. Virtual reality system using the master hand and the methodology is constructed. As a result, the subjects possibly recognize the stiffness of the objects in the virtual environment.Haptic Device