Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System

Yoshihiro Watanabe,Yuji Yamakawa,Masatoshi Ishikawa,Yugo Katsuki

doi:10.3390/robotics10010041

Yoshihiro Watanabe, Yuji Yamakawa + Show 2 more

Open Access

https://doi.org/10.3390/robotics10010041

Copy DOI

Journal: Robotics	Publication Date: Mar 3, 2021
Citations: 5	License type: CC BY 4.0

Affiliation: Tokyo Institute of Technology, The University of Tokyo

Abstract

This paper focuses on development of a high-speed, low-latency telemanipulated robot hand system, evaluation of the system, and demonstration of the system. The characteristics of the developed system are the followings: non-contact, high-speed 3D visual sensing of the human hand, intuitive motion mapping between human hands and robot hands, and low-latency, fast responsiveness to human hand motion. Such a high-speed, low-latency telemanipulated robot hand system can be considered to be more effective from the viewpoint of usability. The developed system consists of a high-speed vision system, a high-speed robot hand, and a real-time controller. For the developed system, we propose new methods of 3D sensing, mapping between the human hand and the robot hand, and the robot hand control. We evaluated the performance (latency and responsiveness) of the developed system. As a result, the latency of the developed system is so small that humans cannot recognize the latency. In addition, we conducted experiments of opening/closing motion, object grasping, and moving object grasping as demonstrations. Finally, we confirmed the validity and effectiveness of the developed system and proposed method.

Highlights

There has been significant progress in the development of autonomous robots
We developed an entirely new high-speed, low-latency telemanipulated robot hand system
The developed system is composed of a high-speed vision system including a high-speed projector, a high-speed robot hand and a real-time controller

Summary

Introduction

There has been significant progress in the development of autonomous robots. Research related to Human–Robot Interaction (HRI) has been actively conducted to integrate human intelligence and robot performance. We call the operator of a robot the master and the controlled robot the slave. When it is difficult or unsuitable for humans to be present at the slave side, or when there are tasks that cannot be carried out by humans alone, a telemanipulated robot system is needed. Examples include handling of dangerous objects (bombs, radioactive materials, etc.) or carrying out tasks that are beyond human capacity (resisting strong physical impacts, high-speed manipulation, etc.)

Methods

Results

Conclusion