two-fingered haptic device for robot hand teleoperation竖起两指的触觉装置遥操作机器人的手.pdf

Hindawi Publishing Corporation Journal of Robotics Volume 2011, Article ID 419465, 8 pages doi:10.1155/2011/419465 Research Article Two-Fingered Haptic Device for Robot Hand Teleoperation Futoshi Kobayashi, George Ikai, Wataru Fukui, and Fumio Kojima Department of Systems Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan Correspondence should be addressed to Futoshi Kobayashi, futoshi.kobayashi@port.kobe-u.ac.jp Received 31 May 2011; Revised 23 August 2011; Accepted 27 September 2011 Academic Editor: Tetsuya Mouri Copyright © 2011 Futoshi Kobayashi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator’s thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device. 1. Introduction a tele-operation system is unable to give tactile and haptic information to the human operator because conventional Various humanoid robot hands have been developed so teleoperation systems lack a feedback system. It is difficult far. The Utah/MIT dexterous hand has four fingers with to complete tasks or control various