Development of a Haptic Device for Multi Fingers by Macro-Micro Structure

In this paper, a haptic device for multi-fingers is proposed. The feature of this device is as follows. (1) This device consists of a probe, several sets of force controlled manipulator, and a trajectory controlled manipulator. (2) The bases of the force controlled manipulators with small links of low inertia are attached to a tip of the trajectory controlled manipulator. The tips of force controlled manipulators are attached to an operator's fingertip, respectively. (3) The base of the probe is also attached to the tip of the trajectory controlled manipulator. The tip of the probe is attached to the operator's hand. Thereby, the probe continuously and correctly detects the position and the orientation of the operator's hand. (4) The trajectory controlled manipulator moves the tip so that the force controlled manipulator's base may become suitable position and posture to the operator's hand. (5) Since the force controlled manipulator's bases are grounded through the trajectory controlled manipulator, the force controlled manipulators can generate suitable haptic sensation to the operator's fingertips.