Multi-Fingered Haptic Interface Robot and its Application Systems

Haruhiko Kawasaki

doi:10.4028/www.scientific.net/ssp.144.1

Abstract

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.

Highlights

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation [1]-[2], interaction with microscale and nanoscale phenomena [3], and medical training and evaluation [4]-[5], to mention only some applications
To develop a virtual reality (VR) simulation system using the multi-fingered haptic interface, the following issues have been studied by our group: the design method of the mechanism including an optimum finger layout, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, haptic rendering with a deformable object, the system architecture consisting of a real-time controller and VR simulation, and two application systems--a future science encyclopedia and a VR breast palpation system
In order to reduce the oppressive feeling and increase safety, we developed a new Haptic Interface RObot named HIRO II to represent force feeling to all fingers of the human hand

Summary

Introduction

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation [1]-[2], interaction with microscale and nanoscale phenomena [3], and medical training and evaluation [4]-[5], to mention only some applications. To develop a virtual reality (VR) simulation system using the multi-fingered haptic interface, the following issues have been studied by our group: the design method of the mechanism including an optimum finger layout, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, haptic rendering with a deformable object, the system architecture consisting of a real-time controller and VR simulation, and two application systems--a future science encyclopedia and a VR breast palpation system This keynote article presents the design and control of the five-fingered haptic interface to be used opposite a human hand and the above-mentioned technical developments used to integrate a VR simulation system.

Design method of the mechanism

Summary