20704 生活支援用マスタスレーブハンドシステムの開発(医療福祉のメカトロニクス1,OS.16 医療福祉のメカトロニクス)

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. If the slave hand grasps objects and detects the force from the objects, this system feedback and presents the force to the user through to Master Hand. We tried to detect this force by simple and small current sensor. We developed the method to present the force using the master hand.