Title :
SKK Hand Master-hand exoskeleton driven by ultrasonic motors
Author :
Choi, B.H. ; Choi, H.R.
Author_Institution :
Graduate Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea
Abstract :
We present an exoskeletal haptic device called SKK Hand Master. The device is semi-directly driven by linkages with ultrasonic motors, which has characteristic features close to cybernetic actuators. In the control of the device, we propose a method of measuring the joint positions and joint torques of the finger and a control method called PWM/PS is presented to overcome the intrinsic disadvantages of ultrasonic motors such as hysteresis. Construction of the device is addressed and several results of experiments for performance evaluation are included
Keywords :
force control; haptic interfaces; manipulator kinematics; position control; telerobotics; ultrasonic motors; PWM/PS; SKK Hand Master; cybernetic actuators; exoskeletal haptic device; hand exoskeleton; Actuators; Couplings; Cybernetics; Exoskeletons; Haptic interfaces; Hysteresis motors; Position measurement; Pulse width modulation; Torque control; Torque measurement;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893171
