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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 458-463
Takahiro Endo , Gifu University, Japan
Haruhisa Kawasaki , Gifu University, Japan
Tetsuya Mouri , Gifu University, Japan
Yasutoshi Doi , Gifu University, Japan
Tetsunori Yoshida , Gifu University, Japan
Yasuhiko Ishigure , Marutomi Seikou Co. Ltd, Japan
Hisayuki Shimomura , Dainichi Co. Ltd, Japan
Masato Matsumura , e-Valley Co. Ltd, Japan
Kazumi Koketsu , Tec Gihan Co. Ltd, Japan
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.

Y. Doi et al., "Five-fingered haptic interface robot: HIRO III," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 458-463.
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