Development of a Haptic Device for Multi Fingers by Macro-Micro Structure
Development of a Haptic Device for Multi Fingers by Macro-Micro Structure
复制标题
利用宏微观结构开发多指触觉装置
DOI：
10.7210/jrsj.20.725
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
N. Suzuki
中科院分区：
文献类型：
--
作者：
Y. Adachi;T. Kumano;A. Ikemoto;A. Hattori;N. Suzuki
本文提出了一种多手指触觉装置。该装置的特点如下。(1)该装置由探头、力控机械手和轨迹控制机械手组成。(2)力控机械臂的基座与小的低惯性连杆连接到轨迹控制机械臂的尖端。力控机械手的尖端分别附接到操作者的指尖。(3)探头的底座也连接到轨迹控制操纵器的尖端。探头的尖端连接到操作员的手上。由此，探头连续且正确地检测操作者的手的位置和方向。(4)轨迹控制操纵器移动尖端，使得力控制操纵器的基座可以变为与操作者的手相适合的位置和姿势。(5)由于力控操纵器的基座通过轨迹控制操纵器接地，力控操纵器可以向操作者的指尖产生合适的触觉感觉。
In this paper, a haptic device for multi-fingers is proposed. The feature of this device is as follows. (1) This device consists of a probe, several sets of force controlled manipulator, and a trajectory controlled manipulator. (2) The bases of the force controlled manipulators with small links of low inertia are attached to a tip of the trajectory controlled manipulator. The tips of force controlled manipulators are attached to an operator's fingertip, respectively. (3) The base of the probe is also attached to the tip of the trajectory controlled manipulator. The tip of the probe is attached to the operator's hand. Thereby, the probe continuously and correctly detects the position and the orientation of the operator's hand. (4) The trajectory controlled manipulator moves the tip so that the force controlled manipulator's base may become suitable position and posture to the operator's hand. (5) Since the force controlled manipulator's bases are grounded through the trajectory controlled manipulator, the force controlled manipulators can generate suitable haptic sensation to the operator's fingertips.