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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Five-fingered haptic interface robot: HIRO III
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
| ASCII Text | x | ||
| Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri, Yasutoshi Doi, Tetsunori Yoshida, Yasuhiko Ishigure, Hisayuki Shimomura, Masato Matsumura, Kazumi Koketsu, "Five-fingered haptic interface robot: HIRO III," World Haptics Conference, pp. 458-463, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009. | |||
| BibTex | x | ||
| @article{ 10.1109/WHC.2009.4810812, author = {Takahiro Endo and Haruhisa Kawasaki and Tetsuya Mouri and Yasutoshi Doi and Tetsunori Yoshida and Yasuhiko Ishigure and Hisayuki Shimomura and Masato Matsumura and Kazumi Koketsu}, title = {Five-fingered haptic interface robot: HIRO III}, journal ={World Haptics Conference}, volume = {0}, year = {2009}, isbn = {978-1-4244-3858-7}, pages = {458-463}, doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2009.4810812}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - CONF JO - World Haptics Conference TI - Five-fingered haptic interface robot: HIRO III SN - 978-1-4244-3858-7 SP458 EP463 A1 - Takahiro Endo, A1 - Haruhisa Kawasaki, A1 - Tetsuya Mouri, A1 - Yasutoshi Doi, A1 - Tetsunori Yoshida, A1 - Yasuhiko Ishigure, A1 - Hisayuki Shimomura, A1 - Masato Matsumura, A1 - Kazumi Koketsu, PY - 2009 VL - 0 JA - World Haptics Conference ER - | |||
This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-of-freedom (DOF) haptic hand, a 6 DOF interface arm and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have resulted: a backlash, a large amount of friction, many motors, and many sensors. In order to solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, experiments in both free space and constraint space have been carried out. In comparison with the previous HIRO, the force errors in free space and in constraint space have been reduced to 30% and 57%, respectively. These results show a high-precision force representation and the great potential of HIRO III.
Citation:
Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri, Yasutoshi Doi, Tetsunori Yoshida, Yasuhiko Ishigure, Hisayuki Shimomura, Masato Matsumura, Kazumi Koketsu, "Five-fingered haptic interface robot: HIRO III," whc, pp.458-463, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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