HapticV1, Main, Exploration, bibRecordById, Pascal:04-0194350

Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation

Identifieur interne : 007350 ( Main/Exploration ); précédent : 007349; suivant : 007351

Multi-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 :

RBID : Pascal:04-0194350

Descripteurs français

Pascal (Inist)
- Boucle réaction, Rétroaction, Mesure, Réalité virtuelle, Orienté objet, Doigt, Sensibilité tactile, Téléopération, Système passif, Système asservi, Oscillation, Main, Degré liberté, Arbre transmission, Articulation.
Wicri :
- topic : Réalité virtuelle.

English descriptors

KwdEn :
- Feedback, Feedback regulation, Feedback system, Finger, Freedom degree, Hand, Joint, Measurement, Object oriented, Oscillation, Passive system, Remote operation, Shaft, Tactile sensitivity, Virtual reality.

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:

Japon

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 001067
to stream PascalFrancis, to step Curation: 000442
to stream PascalFrancis, to step Checkpoint: 000F55
to stream Main, to step Merge: 007895
to stream Main, to step Curation: 007350

Le document en format XML

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<term>Hand</term>
<term>Joint</term>
<term>Measurement</term>
<term>Object oriented</term>
<term>Oscillation</term>
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<term>Remote operation</term>
<term>Shaft</term>
<term>Tactile sensitivity</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Boucle réaction</term>
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<term>Sensibilité tactile</term>
<term>Téléopération</term>
<term>Système passif</term>
<term>Système asservi</term>
<term>Oscillation</term>
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<term>Degré liberté</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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Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation

Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri