Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation
Identifieur interne : 007350 ( Main/Exploration ); précédent : 007349; suivant : 007351Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation
Auteurs : Tatsuya Koyama [Japon] ; Ikuo Yamano [Japon] ; Kenjiro Takemura [Japon] ; Takashi Maeno [Japon]Source :
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
A novel control methodology for master-slave systems using passive force feedback has been 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 implemented Each finger of the master hand consists of a link mechanism with elastic-shaft joints and clutches. Using link mechanisms, the master hand measures fingertip positions and angles of index finger, middle finger and thumb. 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 on human subjects to confirm the usability of the developed master hand and the possibility of the control methodology in the virtual reality system. As a result, the subjects possibly recognize the stress of the objects in the virtual environment.
Affiliations:
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Le document en format XML
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Feedback</term>
<term>Feedback regulation</term>
<term>Feedback system</term>
<term>Finger</term>
<term>Freedom degree</term>
<term>Hand</term>
<term>Joint</term>
<term>Measurement</term>
<term>Object oriented</term>
<term>Oscillation</term>
<term>Passive system</term>
<term>Remote operation</term>
<term>Shaft</term>
<term>Tactile sensitivity</term>
<term>Virtual reality</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Boucle réaction</term>
<term>Rétroaction</term>
<term>Mesure</term>
<term>Réalité virtuelle</term>
<term>Orienté objet</term>
<term>Doigt</term>
<term>Sensibilité tactile</term>
<term>Téléopération</term>
<term>Système passif</term>
<term>Système asservi</term>
<term>Oscillation</term>
<term>Main</term>
<term>Degré liberté</term>
<term>Arbre transmission</term>
<term>Articulation</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term>
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<front><div type="abstract" xml:lang="en">A novel control methodology for master-slave systems using passive force feedback has been 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 implemented Each finger of the master hand consists of a link mechanism with elastic-shaft joints and clutches. Using link mechanisms, the master hand measures fingertip positions and angles of index finger, middle finger and thumb. 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 on human subjects to confirm the usability of the developed master hand and the possibility of the control methodology in the virtual reality system. As a result, the subjects possibly recognize the stress of the objects in the virtual environment.</div>
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<tree><country name="Japon"><noRegion><name sortKey="Koyama, Tatsuya" sort="Koyama, Tatsuya" uniqKey="Koyama T" first="Tatsuya" last="Koyama">Tatsuya Koyama</name>
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<name sortKey="Takemura, Kenjiro" sort="Takemura, Kenjiro" uniqKey="Takemura K" first="Kenjiro" last="Takemura">Kenjiro Takemura</name>
<name sortKey="Yamano, Ikuo" sort="Yamano, Ikuo" uniqKey="Yamano I" first="Ikuo" last="Yamano">Ikuo Yamano</name>
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