Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand for Teleoperation of Robot Hand Report2: Consideration on Decided Specification

DOI Open Access
  • Ushimaru Kyosuke
    Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology
  • Sato Noritaka
    Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology
  • Morita Yoshifumi
    Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology

Description

Recently, teleoperated rescue robots are required. However, it is known that the teleoperation of a robot hand mounted on a rescue robot is difficult. Therefore, we propose a new haptic device that presents haptic sensation for teleoperation of a robot hand. The device stimulates the back of the hand instead of the palm of the operator. Determination of required specifications by an experiment with subjects is written in this paper. To design the device, the interval of the stimulation points (i), the diameter of the stimulation point (d), and the force of the stimulation (f) should be optimized. As a result of the experiment, we found that the accuracy rate is highest, when (i, d, f) = (30mm, 6mm, 0.9kgf). Moreover, we deeply considered on the decided specification with an additional experiment.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390569700726584192
  • DOI
    10.5954/icarob.2021.gs6-3
  • ISSN
    21887829
  • Text Lang
    en
  • Data Source
    • JaLC
    • Crossref
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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