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Issue No. 01 - January-March (2011 vol. 4)
ISSN: 1939-1412
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.
Haptic interfaces, Joints, Fingers, DC motors, Force, Gears, Friction

T. Endo et al., "Five-Fingered Haptic Interface Robot: HIRO III," in IEEE Transactions on Haptics, vol. 4, no. 1, pp. 14-27, 2011.
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