Title :
An exoskeleton master hand for controlling DLR/HIT hand
Author :
Fang, Honggen ; Xie, Zongwu ; Liu, Hong
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ¿four-bar mechanism joint¿ in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure with 200 ¿s cycle time is designed. The operating modes of the master hand can be contact or non-contact, which depends on the motion states of slave hand, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master hand, an master-slave control experiment based on force-position control method between the master hand and DLR/HIT hand is conducted. The results demonstrate this new type master hand can augment telepresence.
Keywords :
control engineering computing; data gloves; dexterous manipulators; digital signal processing chips; field programmable gate arrays; force control; force feedback; position control; DLR/HIT hand; dexterous robots; digital signal processing structure; exoskeleton master hand; field programmable gate array structure; force feedback gloves; force-position control method; four-bar mechanism joint; haptic interface device; master finger transmission ratio; master-slave control experiment; master-slave operation; wire coupling mechanism; Couplings; Data communication; Digital signal processing; Exoskeletons; Filtering theory; Fingers; Force control; Force feedback; Master-slave; Wire;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354624