DocumentCode :
3160317
Title :
Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove
Author :
Fernando, Charith Lasantha ; Furukawa, M. ; Minamizawa, Kouta ; Tachi, Susumu
fYear :
2013
fDate :
11-13 Dec. 2013
Firstpage :
20
Lastpage :
27
Abstract :
This paper describes a new type of robust control mechanism for a 15 DOF anthropomorphic robot hand in telexistence manipulations using a flexible fiber based master glove to experience the visual-kinesthetic sensation of one´s own hand in remote manipulations. Accordingly, a master-slave telexistence system was constructed with the following: a 14 DOF modified optical fiber based data glove for capturing the complex finger postures of the master operator without any mechanical constraints; a novel finger posture mapping algorithm that is independent from the effects of different finger sizes and digit ratios; and a 15 DOF anthropomorphic slave robot hand for reconstructing the operators finger posture. This paper describes the importance of feeling one´s fingers in a telexistence manipulation, control mechanism for accurate finger posture capture/reconstruction where the effectiveness has been verified through a set of experiments and a subjective evaluation.
Keywords :
data gloves; dexterous manipulators; human-robot interaction; image reconstruction; pose estimation; robot vision; robust control; telerobotics; 14 DOF modified optical fiber based data glove; 15 DOF anthropomorphic robot hand; dexterous robot hands; digit ratios; finger posture capture; finger posture mapping algorithm; finger posture reconstruction; finger sizes; flexible fiber based master glove; master-slave telexistence system; remote manipulations; robust control mechanism; telexistence manipulation; visual-kinesthetic sensation; Data gloves; Indexes; Joints; Robot kinematics; Robot sensing systems; Thumb; 1.2.9 [Artificial Intelligence]: Robotics — Kinematics and dynamics; H.4.3 [Information Systems Applications]: Communications Applications — Computer conferencing, teleconferencing, and videoconferencing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Artificial Reality and Telexistence (ICAT), 2013 23rd International Conference on
Conference_Location :
Tokyo
Type :
conf
DOI :
10.1109/ICAT.2013.6728901
Filename :
6728901
Link To Document :
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