Development of working multifinger hand manipulator

Author

Oomichi, T. ; Okino, A. ; Higuchi, Masaru ; Maekawa, Akihiro ; Ohnishi, Ken

Author_Institution

Mitsubishi Heavy Ind. Ltd., Res. & Dev. Center, Hyogo, Japan

fYear

1990

fDate

3-6 Jul 1990

Firstpage

873

Abstract

Introduces the hardware and software of the multiple sensory bilateral control for the multi-finger manipulator which is remotely controlled by the master-slave method. From experiments and evaluation the authors show that it is possible to carry out detailed works, which had been impossible when using the conventional end effector, by controlling through a computer the slave finger manipulator consisting of 14 axes equipped with joint angle/power sensors and tactile sensors, and the master finger manipulator which operates the slave finger manipulator and the feeling generation mechanism conveys the sensation felt by the slave finger manipulator to the operator

Keywords

computerised control; robots; tactile sensors; telecontrol; angle-power sensors; feeling generation mechanism; master finger manipulator; master-slave method; multifinger hand manipulator; multiple sensory bilateral control; robot hand; slave finger manipulator; tactile sensors; Arm; Feeds; Fingers; Grippers; Hardware; Humans; Interference; Master-slave; Size control; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262508

Filename

262508