Utilization of stepping motors in the realization of a prototype of perceptive glove with feedback force for telerobotics

Force feedback is a basic element in realizations for telemanipulation and virtual reality. In telemanipulation, tactile but especially force information permits the remote operator to carry out efficiently operations which would otherwise be difficult to perform; nevertheless it permits a better simulation and interaction of virtual environment in the case of virtual reality. A system for grasping objects was projected and realized in a robotics laboratory. The operator wearing a glove drives a mechanical hand, having a force sensor on his own hand. This increases the performance of the telemanipulation system. The whole project is explained with particular attention to the control system of stepping motors used for force feedback.