An integrated tactile feedback system for multifingered robot hands

Author

Lo, Wang-Tai ; Shen, Yantao ; Liu, Yun-Hui

Author_Institution

Dept. of Autom. & Comput. Aided Eng., Chinese Univ. of Hong Kong, Shatin, China

Volume

2

fYear

2001

fDate

2001

Firstpage

680

Abstract

Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments

Keywords

dexterous manipulators; feedback; haptic interfaces; tactile sensors; telerobotics; contact areas; finger-shaped tactile sensor; fingertip; five-fingered robot hand system; high quality tactile images; high resolution images; human operator; integrated tactile feedback system; multifingered robot hands; tactile display; total internal reflection principle; Area measurement; Displays; Feedback; Fingers; Human robot interaction; Image resolution; Reflection; Rendering (computer graphics); Robot sensing systems; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976248

Filename

976248