Five-Fingered Haptic Interface Robot: HIRO III

被引：20

作者：

Endo, Takahiro ^{[1
]}

Kawasaki, Haruhisa ^{[1
]}

Mouri, Tetsuya ^{[1
]}

Ishigure, Yasuhiko ^{[2
]}

Shimomura, Hisayuki ^{[3
]}

Matsumura, Masato ^{[4
]}

Koketsu, Kazumi ^{[5
]}

机构：

[1] Gifu Univ, Dept Human & Informat Syst, Gifu 5011193, Japan

[2] Marutomi Seiko Co Ltd, Seki, Gifu 5013936, Japan

[3] Dainichi Co Ltd, Kani City, Gifu 5090249, Japan

[4] E Valley Co Ltd, Nagoya, Aichi 4660059, Japan

[5] Tec Gihan Co Ltd, Uji, Kyoto 6110033, Japan

来源：

IEEE TRANSACTIONS ON HAPTICS | 2011年 / 4卷 / 01期

关键词：

Design; haptic I/O; interfaces; virtual reality; DISPLAY; DESIGN; FINGERS;

D O I：

10.1109/ToH.2010.62

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：14 / 27

页数：14

共 35 条

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