Bilateral robot hand based on estimated force feedback

Satoshi Komada; Satoru Inadama; Kouhei Ohnishi

doi:10.1117/12.943015

Bilateral robot hand based on estimated force feedback

Satoshi Komada, Satoru Inadama, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

Abstract

A novel approach to the bilateral motion is realized in the master-slave robot hand system. In the approach, there are neither force sensors nor tactile sensors in the slave hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and the current of the slave hand for the feedback to the master hand in order that the operator feels the touch quality of the object grasped by the slave hand to some extent. The position reference of the slave hand is given through the master position. These two cross feedback loops are implemented in one microprocessor. The above algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.

Original language	English
Pages (from-to)	602-607
Number of pages	6
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	856
DOIs	https://doi.org/10.1117/12.943015
Publication status	Published - 1987 Oct 19
Externally published	Yes

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Applied Mathematics
Electrical and Electronic Engineering
Computer Science Applications

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10.1117/12.943015

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abstract = "A novel approach to the bilateral motion is realized in the master-slave robot hand system. In the approach, there are neither force sensors nor tactile sensors in the slave hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and the current of the slave hand for the feedback to the master hand in order that the operator feels the touch quality of the object grasped by the slave hand to some extent. The position reference of the slave hand is given through the master position. These two cross feedback loops are implemented in one microprocessor. The above algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.",

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AU - Komada, Satoshi

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N2 - A novel approach to the bilateral motion is realized in the master-slave robot hand system. In the approach, there are neither force sensors nor tactile sensors in the slave hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and the current of the slave hand for the feedback to the master hand in order that the operator feels the touch quality of the object grasped by the slave hand to some extent. The position reference of the slave hand is given through the master position. These two cross feedback loops are implemented in one microprocessor. The above algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.

AB - A novel approach to the bilateral motion is realized in the master-slave robot hand system. In the approach, there are neither force sensors nor tactile sensors in the slave hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and the current of the slave hand for the feedback to the master hand in order that the operator feels the touch quality of the object grasped by the slave hand to some extent. The position reference of the slave hand is given through the master position. These two cross feedback loops are implemented in one microprocessor. The above algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.

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Bilateral robot hand based on estimated force feedback

Abstract

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