10507 生活支援用マスタスレーブハンドシステムの開発(医用・福祉工学とメカトロニクス(2),OS13 医用・福祉工学とメカトロニクス)

Abstract

We have developed a Master-Slave Hand system to use rehabilitation field. This system has Haptic glove and Robot hand. Haptic glove has angle sensor to detect finger position and small balloons inside of the glove to present a force to user by compressed air. This glove makes it possible to give angle information of each finger to Slave hand system, and also to present the force, which is detected the slave hand to the user. To control this force, we use PWM control method to show the quantity of the force. We tried to use this glove Master-Slave Hand system, we could feel the slave hand force though haptic glove like areal force.