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Five-Fingered Haptic Interface Robot: HIRO III
January-March 2011 (vol. 4 no. 1)
pp. 14-27
Takahiro Endo, Gifu University, Gifu
Haruhisa Kawasaki, Gifu University, Gifu
Tetsuya Mouri, Gifu University, Gifu
Yasuhiko Ishigure, Marutomi Seikou Co., Ltd., Gifu
Hisayuki Shimomura, Dainichi Co., Ltd., Gifu
Masato Matsumura, e-Valley Co., Ltd., Aichi
Kazumi Koketsu, Tec Gihan Co., Ltd., Kyoto
This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-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 arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. These results show the high-precision force display and great potential of HIRO III.

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Index Terms:
Design, haptic I/O, interfaces, virtual reality.
Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri, Yasuhiko Ishigure, Hisayuki Shimomura, Masato Matsumura, Kazumi Koketsu, "Five-Fingered Haptic Interface Robot: HIRO III," IEEE Transactions on Haptics, vol. 4, no. 1, pp. 14-27, Jan.-March 2011, doi:10.1109/TOH.2010.62
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