Master-Slave System based on Hand Haptic Interface for Humanoid Hand Robot

2016 Fiscal Year Final Research Report

• Project/Area Number: 26249063
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Gifu University
• Principal Investigator: KAWASAKI Haruhisa 岐阜大学, 工学部, 特任教授・名誉教授 (40224761)
• Co-Investigator(Kenkyū-buntansha): 毛利 哲也 岐阜大学, 工学部, 准教授 (40418728) ; 山田 貴孝 岐阜大学, 工学部, 教授 (00273318) ; 上木 諭 豊田工業高等専門学校, その他部局等, 准教授 (50467213) ; 遠藤 孝浩 岐阜大学, 工学部, 助教 (70432185)
• Project Period (FY): 2014-06-27 – 2017-03-31
• Keywords: ロボットハンド / ハプティックインターフェイス / 遠隔操作 / 遠隔診断

Outline of Final Research Achievements

Human manipulate objects using not only fingertips and but also finger pads. Following four research issues based on technologies of our developed multi-fingered haptic interface HIRO III and humanoid robot hands are studied. (1) Constitution method of hybrid hand haptic interfaces, (2) Constitution method of humanoid robot hand, (3) Master-slave control based on force feeling of whole hand, and (4) Constitution method of master-slave system with safe and steady manipulation.

Free Research Field

ロボット工学