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
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
收藏
页码:14 / 27
页数:14
相关论文
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