Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation
Identifieur interne : 000F55 ( PascalFrancis/Checkpoint ); précédent : 000F54; suivant : 000F56Multi-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 :
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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.
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sortKey="Takemura, Kenjiro" sort="Takemura, Kenjiro" uniqKey="Takemura K" first="Kenjiro" last="Takemura">Kenjiro Takemura</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Keio University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Keio University</wicri:noRegion></affiliation></author><author><name sortKey="Maeno, Takashi" sort="Maeno, Takashi" uniqKey="Maeno T" first="Takashi" last="Maeno">Takashi Maeno</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Keio University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Keio University</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">04-0194350</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 04-0194350 INIST</idno><idno 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University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Keio University</wicri:noRegion></affiliation></author><author><name sortKey="Takemura, Kenjiro" sort="Takemura, Kenjiro" uniqKey="Takemura K" first="Kenjiro" last="Takemura">Kenjiro Takemura</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Keio University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Keio University</wicri:noRegion></affiliation></author><author><name sortKey="Maeno, Takashi" sort="Maeno, Takashi" uniqKey="Maeno T" first="Takashi" last="Maeno">Takashi Maeno</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Keio University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Keio University</wicri:noRegion></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><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></keywords></textClass></profileDesc></teiHeader><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></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002</s1></fA09><fA11 i1="01" i2="1"><s1>KOYAMA (Tatsuya)</s1></fA11><fA11 i1="02" i2="1"><s1>YAMANO (Ikuo)</s1></fA11><fA11 i1="03" i2="1"><s1>TAKEMURA (Kenjiro)</s1></fA11><fA11 i1="04" i2="1"><s1>MAENO (Takashi)</s1></fA11><fA14 i1="01"><s1>Keio University</s1><s2>Yokohama</s2><s3>JPN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and Automation Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="02" i2="1"><s1>IEEE Industrial Elelctronics Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="03" i2="1"><s1>Robotics Society of Japan</s1><s3>JPN</s3><s9>patr.</s9></fA18><fA18 i1="04" i2="1"><s1>Society of Instruments and Control Engineers</s1><s3>INC</s3><s9>patr.</s9></fA18><fA18 i1="05" i2="1"><s1>INRIA Rhône-Alpes</s1><s2>Grenoble</s2><s3>FRA</s3><s9>patr.</s9></fA18><fA18 i1="06" i2="1"><s1>EPFL</s1><s2>Lausanne</s2><s3>CHE</s3><s9>patr.</s9></fA18><fA20><s1>2905-2910</s1></fA20><fA21><s1>2002</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-7398-7</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IROS 2002 : international conference on intelligent robots and systems</s1><s3>Lausanne CHE</s3><s4>2002-09-30</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 37951</s2><s5>354000117764174730</s5></fA43><fA44><s0>0000</s0><s1>© 2004 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>13 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>04-0194350</s0></fA47><fA60><s1>C</s1></fA60><fA61><s0>A</s0></fA61><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02C03</s0></fC02><fC02 i1="02" i2="X"><s0>001D02D11</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Boucle réaction</s0><s5>02</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Feedback</s0><s5>02</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Retroalimentación</s0><s5>02</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Rétroaction</s0><s5>03</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Feedback regulation</s0><s5>03</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Retroacción</s0><s5>03</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Mesure</s0><s5>04</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Measurement</s0><s5>04</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Medida</s0><s5>04</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Réalité virtuelle</s0><s5>05</s5></fC03><fC03 i1="04" i2="X" l="ENG"><s0>Virtual reality</s0><s5>05</s5></fC03><fC03 i1="04" i2="X" l="SPA"><s0>Realidad virtual</s0><s5>05</s5></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Orienté objet</s0><s5>06</s5></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Object oriented</s0><s5>06</s5></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Orientado objeto</s0><s5>06</s5></fC03><fC03 i1="06" i2="X" l="FRE"><s0>Doigt</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="ENG"><s0>Finger</s0><s5>11</s5></fC03><fC03 i1="06" i2="X" l="SPA"><s0>Dedo</s0><s5>11</s5></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Sensibilité tactile</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="ENG"><s0>Tactile sensitivity</s0><s5>12</s5></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Sensibilidad tactil</s0><s5>12</s5></fC03><fC03 i1="08" i2="X" l="FRE"><s0>Téléopération</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="ENG"><s0>Remote operation</s0><s5>13</s5></fC03><fC03 i1="08" i2="X" l="SPA"><s0>Teleacción</s0><s5>13</s5></fC03><fC03 i1="09" i2="X" l="FRE"><s0>Système passif</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="ENG"><s0>Passive system</s0><s5>14</s5></fC03><fC03 i1="09" i2="X" l="SPA"><s0>Sistema pasivo</s0><s5>14</s5></fC03><fC03 i1="10" i2="X" l="FRE"><s0>Système asservi</s0><s5>15</s5></fC03><fC03 i1="10" i2="X" l="ENG"><s0>Feedback system</s0><s5>15</s5></fC03><fC03 i1="10" i2="X" l="SPA"><s0>Servomecanismo</s0><s5>15</s5></fC03><fC03 i1="11" i2="X" l="FRE"><s0>Oscillation</s0><s5>16</s5></fC03><fC03 i1="11" i2="X" l="ENG"><s0>Oscillation</s0><s5>16</s5></fC03><fC03 i1="11" i2="X" l="SPA"><s0>Oscilación</s0><s5>16</s5></fC03><fC03 i1="12" i2="X" l="FRE"><s0>Main</s0><s5>17</s5></fC03><fC03 i1="12" i2="X" l="ENG"><s0>Hand</s0><s5>17</s5></fC03><fC03 i1="12" i2="X" l="SPA"><s0>Mano</s0><s5>17</s5></fC03><fC03 i1="13" i2="X" l="FRE"><s0>Degré liberté</s0><s5>18</s5></fC03><fC03 i1="13" i2="X" l="ENG"><s0>Freedom degree</s0><s5>18</s5></fC03><fC03 i1="13" i2="X" l="SPA"><s0>Grado libertad</s0><s5>18</s5></fC03><fC03 i1="14" i2="X" l="FRE"><s0>Arbre transmission</s0><s5>19</s5></fC03><fC03 i1="14" i2="X" l="ENG"><s0>Shaft</s0><s5>19</s5></fC03><fC03 i1="14" i2="X" l="SPA"><s0>Arbol transmisión</s0><s5>19</s5></fC03><fC03 i1="15" i2="X" l="FRE"><s0>Articulation</s0><s5>20</s5></fC03><fC03 i1="15" i2="X" l="ENG"><s0>Joint</s0><s5>20</s5></fC03><fC03 i1="15" i2="X" l="SPA"><s0>Articulación</s0><s5>20</s5></fC03><fN21><s1>131</s1></fN21><fN82><s1>OTO</s1></fN82></pA></standard></inist><affiliations><list><country><li>Japon</li></country></list><tree><country name="Japon"><noRegion><name sortKey="Koyama, Tatsuya" sort="Koyama, Tatsuya" uniqKey="Koyama T" first="Tatsuya" last="Koyama">Tatsuya Koyama</name></noRegion><name sortKey="Maeno, Takashi" sort="Maeno, Takashi" uniqKey="Maeno T" first="Takashi" last="Maeno">Takashi Maeno</name><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></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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