Handshake telephone system to communicate with voice and force
Handshake telephone system to communicate with voice and force
复制标题
握手电话系统，用声音和力量进行沟通
DOI：
10.1109/roman.1997.647031
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Shinjuku
中科院分区：
文献类型：
--
作者：
Kazushige OUCH1;Shuji Hashimoto;Shinjuku
在本文中，我们提出了握手电话系统使用机器人的手，通过该系统，用户可以握手，而对方在电话交谈。机器人手具有单自由度，并采用硅橡胶材料制成，以获得与人手相似的自然感觉。四个手指松散地连接在一起，手肘关节可以通过用户的手臂运动自由旋转。由橡胶管和气压传感器组成的力传感器附在手的下部。空气压力传感器测量根据用户的抓握力而变化的管中的空气压力。机器人手通过普通电话线与语音线并联连接。在我们的实验中，比特率为9600 bps，传输延迟约为45 ms，这是可以接受的握手通信。此外，我们尝试了自我握手模式与虚拟合作伙伴握手。
In this paper, we propose the handshake telephone system using robot hands, through which users can shake hands to each other while talking on the telephone. Robot hand has one degree of freedom and is made of silicone rubber in order to get the natural feeling like human's hand. Four fingers are loosely joined together and the elbow joint can be freely rotated by the user's arm motion. A force sensor, which is composed of a rubber tube and an air pressure sensor, is attached at the lower part of the hand. The air pressure sensor measures the air pressure in the tube which changes according to the user's grasping power. The robot hands are connected through ordinary telephone line in parallel with the voice line. In our experiments with the bit-rate of 9600 bps, the transmission delay was around 45 ms which is acceptable for handshake communication. Additionally, we tried a self handshake mode to handshake with a virtual partner.