| Title: | GS6-3 Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand for Teleoperation of Robot Hand Report2: Consideration on Decided Specification |
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| Publication: | ICAROB2021 |
| Volume: | 26 |
| Pages: | 453-456 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2021.GS6-3 |
| Author(s): | Kyosuke Ushimaru, Noritaka Sato, Yoshifumi Morita |
| Publication Date: | January 21, 2021 |
| Keywords: | Rescue robot, Haptic Device, Teleoperation, Robot Hand, Palm |
| Abstract: | Recently, teleoperated rescue robots are required. However, it is known that the teleoperation of a robot hand mounted on a rescue robot is difficult. Therefore, we propose a new haptic device that presents haptic sensation for teleoperation of a robot hand. The device stimulates the back of the hand instead of the palm of the operator. Determination of required specifications by an experiment with subjects is written in this paper. To design the device, the interval of the stimulation points (i), the diameter of the stimulation point (d), and the force of the stimulation (f) should be optimized. As a result of the experiment, we found that the accuracy rate is highest, when (i, d, f) = (30mm, 6mm, 0.9kgf). Moreover, we deeply considered on the decided specification with an additional experiment. |
| PDF File: | https://alife-robotics.co.jp/members2021/icarob/data/html/data/GS/GS6/GS6-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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