7 DOF arm type haptic interface for teleoperation and virtual reality systems

Author

Nakai, Akito ; Ohashi, Toshiyuki ; Hashimoto, Hideki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

Volume

2

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1266

Abstract

This paper presents a new type of human interface with force feedback attached to an arm, which we named Sensor Arm. The Sensor Arm can be utilized as an interface for interactive communication with the virtual environment and as a master manipulator of a tele-operation system. The number of degrees-of-freedom (DOF) of the Sensor Arm is seven, which is the same DOF of a human arm. Angle and torque of each joint can be measured. Moreover, in this system, force feedback can be realized at each joint of the human arm. To measure human force a new type of force sensor system is proposed in the Sensor Arm system. The structure of the Sensor Arm system and the experimental results are shown

Keywords

force feedback; haptic interfaces; manipulators; telerobotics; virtual reality; 7-DOF arm type haptic interface; Sensor Arm; force feedback; human interface; interactive communication; teleoperation system; virtual environment; virtual reality systems; Cooperative systems; Force feedback; Force sensors; Haptic interfaces; Humans; Robots; Sensor systems; Torque measurement; Virtual environment; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.727473

Filename

727473