[D90] A novel dexterous hand haptic teleoperation system

Summary form only given. This demo demonstrates a dexterous hand teleoperation system using desktop haptic device as the master device. The motion mapping and force feedback methods are developed for the system. An object-based force feedback method is proposed to provide operator with more identifiable grasp force feedback when they grasp different objects. In this method, a pre-grasp process is defined during which the parameter estimation of the object is performed with Hunt-Crossley dynamic models. Based on the parameters, the motion mapping and force feedback coefficients of the teleoperation system are adjusted for each different object.