Grasping Control in Three-Fingered Robot Hand Teleoperation Using Desktop Haptic Device
This paper presents a three-fingered robot hand teleoperation system using desktop haptic device as the master manipulator. The grasp mapping and force feedback methods are developed for the system. Grasp forces of the robot hand are transformed to proper feedback force in master side. Operator controls the robot hand to grasp and hold different objects depending on the force feedback rather than visual feedback. We demonstrated that a wide range of objects, whose properties are well known by operator, were safely and stably grasped and the force based grasping control was more reliable than visual feedback based control. The intuitive and easy-to-realize system raises a new control scheme in robot hand teleoperation.
KeywordsVisual Feedback Force Feedback Haptic Device Master Manipulator Robot Hand
This research was supported by China domestic research project for International Thermonuclear Experimental Reactor (ITER) program under grant 2012GB102006, 2012GB102008 and supported by the Innovation Foundation of BUAA for PhD Graduates.
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