MicroHandwithTwoRotational Fingers and Manipulation ofSmallObjects byTeleoperation

Inorder toenhance theability ofmanipulation ofthe A microhandconsisting oftworotational fingers is two-fingered microhand,we propose torotate two proposed. Eachfinger has4DOF:3-DOFtranslation cylindrical fingers around their ownaxes. Eachfinger has4 and1-DOFrotation aroundthefinger's axis. Two DOF:3-DOFtranslation and1-DOFrotation around the fingers graspasmall object andtranslate itin3Dspace finger's axis. Inthesamewayasthetwo-fingered micro bymovingthemselves inthesamedirection. Theycan handwhich wealready developed, twofingers grasp asmall rotate theobject bymovingthemselves backandforth in object andtranslate itin3Dspace bymoving themselves in theopposite direction. Rotating thefingers aroundtheir thesamedirection. Theycanrotate theobject bymoving own axesinthesamedirection makesitpossible to themselves backandforth intheopposite direction. The rotate theobject aroundanother axis. Rotating the new rotations of thefingers enablethefollowing fingers intheopposite direction leads tomoveupand manipulations. Rotating thefingers around their ownaxesin down theobject betweenthefingers. Virtual stick thesamedirection makesitpossible torotate theobject methodforteleoperation ofthismicrohandisalso around another axis. Rotating thefingers intheopposite proposed. A humanoperator commandsthe3-DOF direction will lead tomoveupanddowntheobject between translation and2-DOFrotation ofthegrasped object thefingers; this manipulation enables thehandtograsp the using aPHANTOM omni-device, asifhedirectly grasps center oftheobject. andmanipulates thestick whichisvirtually fixed tothe Userinterfaces arealso important forteleoperation ofmicro object. The commandedmotionof theobjectis hands. We propose "virtual stick" method, whichisa converted tothemotions ofthetwofingers, whichare methodofobject-oriented teleoperation ofthis microhand. input tothecontrollers ofthefingers. AsapreliminaryA humanoperator commandsthe3-DOFtranslation and experiment oftheproposed microhand,tworotations of 2-DOFrotation ofthegrasped object using anomni-device a smallspherical object of2[mm]diameter aretested asa5-DOFjoystick, asifhedirectly grasps andmanipulates using two2-DOFfingers. thestick whichisvirtually fixedtotheobject. The commanded motion oftheobject isconverted tothemotions