Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand

Abstract:

The developed haptic interface can present force and tactile feeling to the five fingertips of the human hand. Its mechanism consists of a 6 degree of freedom (DOF) arm and a 15 DOF hand.

The design performance index consists of the product space between the operator’s finger and the hapic finger, and the opposability of the thumb and fingers. Moreover, in order to reduce the feeling of uneasiness in the operator, a mixed control method consisting of a finger-force control and an arm position control intended to maximize the control performance index, which consists of the hand manipulability measure and the norm of the arm-joint angle vector is proposed.

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