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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,...
This paper presents a finger pad force display device for a hand haptic interface for use in a virtual reality environment. The haptic interface consists of finger pad force display devices and a 3D fingertip haptic display device. The finger pad force display device is closed-loop controlled by the use of a tactile sensor. The design concept, the specifications of the finger pad force display and...
The present paper introduces a hand haptic interface for use in palpation training in a virtual reality environment. The developed hand haptic interface consists of novel finger pad force display devices and a 3D fingertip haptic display device. The total number of displayed points is 14. The finger pad force display devices are open-loop controlled by a time interval control. The design concept,...
This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-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...
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