Five-Fingered Haptic Interface Robot: HIRO III.
Identifieur interne : 000F77 ( PubMed/Curation ); précédent : 000F76; suivant : 000F78Five-Fingered Haptic Interface Robot: HIRO III.
Auteurs : T. Endo ; H. Kawasaki ; T. Mouri ; Y. Ishigure ; H. Shimomura ; M. Matsumura ; K. KoketsuSource :
- IEEE transactions on haptics [ 1939-1412 ]
Abstract
This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. These results show the high-precision force display and great potential of HIRO III.
DOI: 10.1109/TOH.2010.62
PubMed: 26962952
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Ishigure</name></author><author><name sortKey="Shimomura, H" sort="Shimomura, H" uniqKey="Shimomura H" first="H" last="Shimomura">H. Shimomura</name></author><author><name sortKey="Matsumura, M" sort="Matsumura, M" uniqKey="Matsumura M" first="M" last="Matsumura">M. Matsumura</name></author><author><name sortKey="Koketsu, K" sort="Koketsu, K" uniqKey="Koketsu K" first="K" last="Koketsu">K. Koketsu</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="ISSN">1939-1412</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. These results show the high-precision force display and great potential of HIRO III.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="PubMed-not-MEDLINE"><PMID Version="1">26962952</PMID><DateCreated><Year>2016</Year><Month>03</Month><Day>11</Day></DateCreated><DateCompleted><Year>2016</Year><Month>03</Month><Day>12</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Print">1939-1412</ISSN><JournalIssue CitedMedium="Print"><Volume>4</Volume><Issue>1</Issue><PubDate><MedlineDate>2011 Jan-Feb</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Five-Fingered Haptic Interface Robot: HIRO III.</ArticleTitle><Pagination><MedlinePgn>14-27</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2010.62</ELocationID><Abstract><AbstractText>This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. 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