5指ハプティックインターフェイスと未来科学百科事典への応用(「人と相互作用するロボット」特集)

概要

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This paper presents a design and characteristics of a newly developed five-fingered haptic interface robot named HIRO II. The haptic interface can present force and tactile feeling at the five- fingertips of human hand. It is designed to be completely safe and to be similar to the human upper limb both in shape and motion ability, of which mechanism consists of a 6 DOF arm and a 15 DOF hand. The interface is placed opposite to the human hand, which brings safety and no oppressive feelings, but this leads to difficulty in controlling the haptic interface because it should follow the hand poses of the operator. A redundant force control method in which all the joints of the mechanism are force controlled simultaneously to present the virtual force is studied. The HIRO II has been also used as a haptic interface for the future science encyclopaedia to be able to present the force feeling, which was demonstrated in Expo 2005 Aichi. Experiments have been carried out to show the high potential of the multi-fingered haptic interface and the results are also presented.
2006-06-30