1A1-J01 Study of Telexistence LXVIII : Reaching a remote object with 6DOF point of view and arm endpoint accuracy(Robot Hand Mechanism and Grasping Strategy(1))

Abstract

In Telexistence, point of vision through robot eyes and posture of the robot's hand should be in a close correlation in order to feel the extended body sensation and transfer realistic haptic sensation. However, present Telexistence robots mostly operate its torso in less than 4 DOF, thus it is difficult to map the vector between the point of vision to arm endpoint in operator to the same vector of slave robot. In order to address this issue we designed and developed TELESAR V, with a 5 DOF torso and a 7 DOF arm attached to it so that the slave robot can have 6 DOF point of vision and 6 DOF arm endpoint accuracy with operator's posture. This structure enables the operator to freely move in his space and experience his extended bodily border while operating the robot and perform manipulatory task remotely. In addition ability to transfer the fingertip haptic and temperature sensation, operator can feel his bodily consciousness is extended to the robot.