Development of five-fingered haptic interface: HIRO-II

This paper presents the design and the characteristics of a new developed five-fingered haptic interface robot named HIRO II. The haptic interface can present force and tactile feeling at the five fingertips of the human hand. It is designed to be completely safe and similar to the human upper limb both in shape and motion ability. Its mechanism consists of a 6 DOF arm and a 15 DOF hand. The interface is placed opposite to the human hand, which brings safety and no oppressive feeling, but this leads to difficulty in controlling the haptic interface because it should follow the hand poses of the operator. A redundant force control method in which all the joints of the mechanism were force controlled simultaneously to present the virtual force is studied. Experimental results to show high potential of a multi-fingered haptic interface are presented.

[1]  Haruhisa Kawasaki,et al.  Anthropomorphic Robot Hand , 2002 .

[2]  Andrew A. Goldenberg,et al.  A new method of peak torque reduction with redundant manipulators , 1997, IEEE Trans. Robotics Autom..

[3]  Norihiko Adachi,et al.  Compliant motion control of kinematically redundant manipulators , 1993, IEEE Trans. Robotics Autom..

[4]  Hideki Hashimoto,et al.  Development of micromanipulator and haptic interface for networked micromanipulation , 2001 .

[5]  Haruhisa Kawasaki,et al.  Force Feedback Glove for Manipulation of Virtual Objects , 1993, J. Robotics Mechatronics.

[6]  Haruhisa Kawasaki,et al.  Future Haptic Science Encyclopedia: An Experimental Implementation of Networked Multi-Threaded Haptic Virtual Environment , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[7]  Haruhisa Kawasaki,et al.  Control of multi-fingered haptic interface opposite to human hand , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[8]  Imad H. Elhajj,et al.  Haptic information in Internet-based teleoperation , 2001 .

[9]  Cagatay Basdogan,et al.  Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration , 2001 .

[10]  Haruhisa Kawasaki,et al.  Haptic Interaction Rendering Technique for HIRO: an Opposite Human Hand Haptic Interface , 2004 .

[11]  Marko Munih,et al.  Upper limb motion analysis using haptic interface , 2001 .

[12]  Rajiv V. Dubey,et al.  Teleoperation assistance through variable velocity mapping , 2001, IEEE Trans. Robotics Autom..

[13]  Makoto Sato,et al.  Two-Handed Multi-Fingers String-Based Haptic Interface Device , 2001 .

[14]  Tsuneo Yoshikawa,et al.  Development and Control of Touch and Force Display Devices for Haptic Interface , 2000 .

[15]  Takashi Maeno,et al.  Development of a mouse-shaped haptic device with multiple finger inputs , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[16]  Russell M. Taylor,et al.  Controlled manipulation of molecular samples with the nanoManipulator , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[17]  Grigore C. Burdea,et al.  Dynamic force feedback in a virtual knee palpation , 1994, Artif. Intell. Medicine.

[18]  Grigore C. Burdea,et al.  The Rutgers Master II-new design force-feedback glove , 2002 .

[19]  T. Mouri,et al.  Anthropomorphic Robot Hand : Gifu Hand III , 2002 .

[20]  Takahiro Kumano,et al.  Development of a Haptic Device for Multi Fingers by Macro-Micro Structure , 2002 .