Wearable haptic glove using micro hydraulic system for control of construction robot system with VR environment

Over the past few decades, various haptic devices have been developed in order to control various robot systems remotely. The actuating systems for most existing haptic devices including glove type require lots of external auxiliary equipment. Because of this, the motion of the user is restricted by the length of the electric wires or pneumatic tubes attached to this equipment. A compact actuation system, including related equipment, is thus indispensable for a wearable haptic device to be truly effective. To resolve the problem of hampered motion and reach, a micro hydraulic actuating system was developed in this research. It was composed of a slim, flexible artificial muscle, a compact hydraulic module for actuating the muscle, and a micro pressure sensor for measuring without flux loss. The characteristics of the muscle were investigated for their control capacity. Once these analyses were completed, a lightweight and compact actuation system was built incorporating a glove typed wearable haptic device. By virtue of the developed micro hydraulic system, the wearable haptic glove was able to operate independently of any external equipment, and movement was completely free of any restrictions from wires or tubes. The construction robot remotely controlled needs a compact haptic device as a motion controller for it and the haptic glove we developed makes it possible to control the motion of construction robot with easy.

[1]  Norihiro Hagita,et al.  Collaborative capturing of experiences with ubiquitous sensors and communication robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2]  Yong Kwun Lee,et al.  A multi-channel micro valve for micro pneumatic artificial muscle , 2002, Technical Digest. MEMS 2002 IEEE International Conference. Fifteenth IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.02CH37266).

[3]  J. Leigh,et al.  Scientists in wonderland: A report on visualization applications in the CAVE virtual reality environment , 1993, Proceedings of 1993 IEEE Research Properties in Virtual Reality Symposium.

[4]  Hyoukryeol Choi,et al.  SKK Hand Master-hand exoskeleton driven by ultrasonic motors , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[5]  Tobi Delbrück,et al.  Ada - intelligent space: an artificial creature for the SwissExpo.02 , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Pierre Lopez,et al.  Modeling and control of McKibben artificial muscle robot actuators , 2000 .

[7]  Wooseok Choi,et al.  Design of a bolting robot for constructing steel structure , 2007, 2007 International Conference on Control, Automation and Systems.

[8]  L. Kopecny.  Producing of tactile feedback via pneumatic muscles , 2003, IEEE International Conference on Industrial Technology, 2003.

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

[10]  Peter Korondi,et al.  Nonlinear Disturbance Compensation for Haptic Device , 2000 .

[11]  Sungchul Kang,et al.  Development of Wearable Haptic System for Tangible Studio to Experience a Virtual Heritage Alive , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Sunil K. Singh,et al.  The exoskeleton glove for control of paralyzed hands , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.