Development of a Haptic Device for Multi Fingers by Macro-Micro Structure

Autor:	Asaki Hattori, Akio Ikemoto, Naoki Suzuki, Takahiro Kumano, Yoshitaka Adachi
Rok vydání:	2002
Předmět:	Engineering business.industry Mobile manipulator media_common.quotation_subject Parallel manipulator Base (geometry) Inertia Position (vector) Orientation (geometry) Trajectory business Simulation media_common Haptic technology
Zdroj:	Journal of the Robotics Society of Japan. 20:725-733
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.20.725
Popis:	In this paper, a haptic device for multi-fingers is proposed. The feature of this device is as follows. (1) This device consists of a probe, several sets of force controlled manipulator, and a trajectory controlled manipulator. (2) The bases of the force controlled manipulators with small links of low inertia are attached to a tip of the trajectory controlled manipulator. The tips of force controlled manipulators are attached to an operator's fingertip, respectively. (3) The base of the probe is also attached to the tip of the trajectory controlled manipulator. The tip of the probe is attached to the operator's hand. Thereby, the probe continuously and correctly detects the position and the orientation of the operator's hand. (4) The trajectory controlled manipulator moves the tip so that the force controlled manipulator's base may become suitable position and posture to the operator's hand. (5) Since the force controlled manipulator's bases are grounded through the trajectory controlled manipulator, the force controlled manipulators can generate suitable haptic sensation to the operator's fingertips.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::fd224d38878922b0d905251d2d26552a https://doi.org/10.7210/jrsj.20.725 Zobrazit plný text záznamu