A finger skill transfer system using a multi-fingered haptic interface robot and a hand motion image

摘要

SUMMARY The teaching of how to exert fingertip forces and how to move the fingers is essential for transferring skill using the fingers to perform fine motor tasks. In this paper we accomplish the transfer of fingertip forces and positions in three-dimensional space by combining a multi-fingered haptic interface robot, which can measure and present the three-dimensional forces and positions at five fingertips, and an image display system that records a trainer's hand image and displays it to a trainee. Several experimental results show a high fingertip force and position transferability and the great potential of our proposed transfer system.