Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand
Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand
复制标题
DOI：
10.1109/tro.2007.906258
复制
发表时间：
2007-10
影响因子：
7.8
通讯作者：
H. Kawasaki;T. Mouri
中科院分区：
文献类型：
--
作者：
H. Kawasaki;T. Mouri
本文介绍了新开发的五指触觉界面机器人 HIRO II 的设计和控制。开发的触觉界面可以向人手的五个指尖呈现力量和触觉。其机构由 6 自由度 (DOF) 手臂和 15 DOF 手组成。该界面位于人手对面，这确保了安全性和运动自由度，但这种布置导致了触觉界面设计和控制的困难，触觉界面需要准确跟踪操作者的指尖位置。提出了一种设计理念和最佳触觉手指布局，可最大化设计性能指标。设计性能指标包括操作者手指与触觉手指之间的乘积空间以及拇指和其他手指的相对性。此外，为了减少操作者的不安感，提出了一种由手指力控制和手臂位置控制组成的混合控制方法，旨在最大化控制性能指标，该指标由手可操作性度量和手臂关节角度矢量范数组成。实验结果证明了采用混合控制方法的多指触觉界面机器人 HIRO II+ 的巨大潜力。
This paper presents the design and control of a newly developed five-fingered haptic interface robot named HIRO II. The developed haptic interface can present force and tactile feeling to the five fingertips of the human hand. Its mechanism consists of a 6 degree of freedom (DOF) arm and a 15 DOF hand. The interface is placed opposite the human hand, which ensures safety and freedom of movement, but this arrangement leads to difficulty in designing and controlling the haptic interface, which should accurately track the fingertip positions of the operator. A design concept and optimum haptic finger layout, which maximizes the design performance index is presented. The design performance index consists of the product space between the operator's finger and the hapic finger, and the opposability of the thumb and fingers. Moreover, in order to reduce the feeling of uneasiness in the operator, a mixed control method consisting of a finger-force control and an arm position control intended to maximize the control performance index, which consists of the hand manipulability measure and the norm of the arm-joint angle vector is proposed. The experimental results demonstrate the high potential of the multifingered haptic interface robot HIRO II+ utilizing the mixed control method.