Paper Info
Title
Experiencing Ones Own Hand In Telexistence Manipulation With A 15 Dof Anthropomorphic Robot Hand And A Flexible Master Glove
Abstract
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.
Year
DOI
Venue
2013
10.1109/ICAT.2013.6728901
PROCEEDINGS OF 2013 23RD INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE (ICAT 2013)
Keywords
DocType
Citations 
H.4.3 [Information Systems Applications]: Communications Applications Computer conferencing, teleconferencing, and videoconferencing, I.2.9 [Artificial Intelligence]: Robotics-Kinematics and dynamics
Conference
1
PageRank 
References 
Authors
0.37
7
4
Name
Order
Citations
PageRank
Charith Lasantha Fernando19413.82
Masahiro Furukawa28716.59
Kouta Minamizawa341079.98
Susumu Tachi41294221.20