Issue No. 01 - January-March (2011 vol. 4)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2010.62
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.
Haptic interfaces, Joints, Fingers, DC motors, Force, Gears, Friction
"Five-Fingered Haptic Interface Robot: HIRO III", IEEE Transactions on Haptics, vol. 4, no. , pp. 14-27, January-March 2011, doi:10.1109/TOH.2010.62