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In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit...
In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ??four-bar mechanism joint?? in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data...
In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish...
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