Five-Fingered Haptic Interface Robot: HIRO III
Five-Fingered Haptic Interface Robot: HIRO III
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DOI：
10.1109/toh.2010.62
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发表时间：
2011-01-01
影响因子：
2.9
通讯作者：
Koketsu, Kazumi
中科院分区：
文献类型：
--
作者：
Endo, Takahiro;Kawasaki, Haruhisa;Koketsu, Kazumi
本文介绍了一种五指触觉接口机器人HIRO III的设计和特点。HIRO III的开发目标是在人类的五个指尖提供高精度的三向力。HIRO III由一个15自由度（DOF）触觉手，一个6自由度接口臂和一个控制系统组成。触觉接口，它包括一个机器人手臂和手，可以在一个大的工作空间中使用，并可以提供用户和虚拟环境之间的多点接触。然而，出现了多自由度机器人特有的以下问题：大量的摩擦、反冲以及用于许多电机和传感器的许多电线的存在。为解决这些问题，设计并研制了一种新型机构和节线控制系统。此外，已经进行了几个实验来研究HIRO III的性能。这些结果显示了HIRO III的高精度力显示和巨大潜力。
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.