More Identifiable Stiffness Feedback for Dexterous Hand Teleoperation in Unknown Environment

摘要

In dexterous hand teleoperation, effective force feedback is critical for precisely identifying objects in an unknown environment. This paper proposes an object-based motion mapping method to provide more identifiable stiffness perception for an operator to perceive different objects in a teleoperation system. To verify the effectiveness of the proposed method, a three-fingered robot hand (BarrettHand BH8-280) teleoperation system is established which uses a commercial desktop haptic device as the master manipulator. A comparison experiment is carried to identify the stiffness of five different objects with two different motion mapping methods: constant motion mapping, and object-based motion mapping. The results show that the object-based motion mapping is more reliable and effective as compared with constant mapping method.