一种使用迂回关节的遭遇式多指主控手

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570516

Shuhei Nakagawara, H. Kajimoto, N. Kawakami, S. Tachi, I. Kawabuchi

{"title":"一种使用迂回关节的遭遇式多指主控手","authors":"Shuhei Nakagawara, H. Kajimoto, N. Kawakami, S. Tachi, I. Kawabuchi","doi":"10.1109/ROBOT.2005.1570516","DOIUrl":null,"url":null,"abstract":"We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"115","resultStr":"{\"title\":\"An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints\",\"authors\":\"Shuhei Nakagawara, H. Kajimoto, N. Kawakami, S. Tachi, I. Kawabuchi\",\"doi\":\"10.1109/ROBOT.2005.1570516\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.\",\"PeriodicalId\":350878,\"journal\":{\"name\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"volume\":\"8 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-04-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"115\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2005.1570516\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2005.1570516","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 115

摘要

我们开发了一种新型的主机械手来控制灵巧的从机械手实现远程生存。我们的大师之手有两个特点。一种是被称为“环形关节”的紧凑型外骨骼装置，它覆盖了操作者手指的广阔工作空间。另一种是碰撞式力反馈，它使操作员的手指可以自由运动，产生自然的接触感。本文介绍了主手的工作机理和控制方法，并进行了主从手指控制实验。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints

We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

自引率

0.00%

发文量