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This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operator's finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of Round Trip Time (RTT)...
This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operatorpsilas finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of round trip time...
Multifingered robot hands are necessary for robots in order to realize many tasks. Many researches on decision of contact points of multi fingered robot hands have been performed in order to minimize fingertip force for a given task. Some of these methods, however, take much time until decision of fingertip position because nonlinear programming problem including friction condition is solved for all...
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