TY - GEN
T1 - Experiencing ones own hand in telexistence manipulation with a 15 DOF anthropomorphic robot hand and a flexible master glove
AU - Fernando, Charith Lasantha
AU - Furukawa, Masahiro
AU - Minamizawa, Kouta
AU - Tachi, Susumu
PY - 2013
Y1 - 2013
N2 - This paper describes a new type of robust control mechanism for a 15 DOF anthropomorphic robot hand in telexistence manipulations using a flexible fiber based master glove to experience the visual-kinesthetic sensation of one's own hand in remote manipulations. Accordingly, a master-slave telexistence system was constructed with the following: a 14 DOF modified optical fiber based data glove for capturing the complex finger postures of the master operator without any mechanical constraints; a novel finger posture mapping algorithm that is independent from the effects of different finger sizes and digit ratios; and a 15 DOF anthropomorphic slave robot hand for reconstructing the operators finger posture. This paper describes the importance of feeling one's fingers in a telexistence manipulation, control mechanism for accurate finger posture capture/reconstruction where the effectiveness has been verified through a set of experiments and a subjective evaluation.
AB - This paper describes a new type of robust control mechanism for a 15 DOF anthropomorphic robot hand in telexistence manipulations using a flexible fiber based master glove to experience the visual-kinesthetic sensation of one's own hand in remote manipulations. Accordingly, a master-slave telexistence system was constructed with the following: a 14 DOF modified optical fiber based data glove for capturing the complex finger postures of the master operator without any mechanical constraints; a novel finger posture mapping algorithm that is independent from the effects of different finger sizes and digit ratios; and a 15 DOF anthropomorphic slave robot hand for reconstructing the operators finger posture. This paper describes the importance of feeling one's fingers in a telexistence manipulation, control mechanism for accurate finger posture capture/reconstruction where the effectiveness has been verified through a set of experiments and a subjective evaluation.
KW - 1.2.9 [Artificial Intelligence]: Robotics - Kinematics and dynamics
KW - H.4.3 [Information Systems Applications]: Communications Applications - Computer conferencing, teleconferencing, and videoconferencing
UR - http://www.scopus.com/inward/record.url?scp=84894483939&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894483939&partnerID=8YFLogxK
U2 - 10.1109/icat.2013.6728901
DO - 10.1109/icat.2013.6728901
M3 - Conference contribution
AN - SCOPUS:84894483939
SN - 9784904490112
T3 - Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
SP - 20
EP - 27
BT - Proceedings of 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
PB - IEEE Computer Society
T2 - 23rd International Conference on Artificial Reality and Telexistence, ICAT 2013
Y2 - 11 December 2013 through 13 December 2013
ER -