Development of a Grounded Haptic Device and a 5-Fingered Robot Hand for Dexterous Teleoperation

摘要

In this paper, a grounded haptic device and 5fingered robot hand are proposed. The grounded haptic device is developed to solve problems, such as complexity and tiredness of existing devices. We applied anatomical knowledge and neurophysiology to develop the novel haptic device. This device utilizes error of sense between visual and somatic sensation to simplify the mechanism. We also developed a 20 DOF robot hand for the slave device which is driven by ultrasonic motors (USMs), motors advantageous for a built-in mechanism applicable, and elastic elements. Elastic elements allow each joint to exhibit passive compliance, and force control without force sensors becomes possible. Both haptic device and robot hand have versatility. To evaluate these devices, we constructed a master -slave system. Even though the structures of the two devices are different the effectiveness, the system is shown through implementation.