Five-fingered haptic interface robot: HIRO III

Endo, Takahiro; Kawasaki, Haruhisa; Mouri, Tetsuya; Doi, Yasutoshi; Yoshida, Tetsunori; Ishigure, Yasuhiko; Shimomura, Hisayuki; Matsumura, M; Koketsu, Kazumi

doi:10.1109/whc.2009.4810812

Cited by 68 publications

(52 citation statements)

References 7 publications

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“…where τ F = col[τ 1 ,…, τ 5 ]R 15 is the joint torque of the haptic finger, J F is a Jacobian, F = col[F 1 ,…, F 5 ]R 15 is a force at the fingertip, F d =col[F d1 ,…, F d5 ]R 15 is the desired force, F e = F d  F, q f = col[q 1 ,…, q 5 ]R 15 is a joint angle of the haptic finger, and K i , i = 1, 2, 3 is the positive feedback gain matrix [21]. In (2), the third term is a feed-forward term for the reaction force and the last term is the velocity feedback to employ the active damping.…”

Section: B Control System For Softness-display Systemmentioning

confidence: 99%

Softness display by a multi-fingered haptic interface robot

Endo

Tanimura

Kazama

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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When we touch a human body, the flesh yields to our touch and we feel a sensation of softness. In virtual training systems for medical procedures such as palpation, the display of softness at the fingertips is essential. This paper proposes a softness-display device using a flexible sheet, and we present the concept of softness display at multiple fingers by combining the developed softness-display device and a multi-fingered haptic interface robot consisting of a five-fingered hand and an arm. Further, we carried out several experiments, the results of which show the validity of the proposed system and its great potential.

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Section: B Control System For Softness-display Systemmentioning

confidence: 99%

Softness display by a multi-fingered haptic interface robot

Endo

Tanimura

Kazama

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…Therefore, the arm is controlled so that the hand manipulability index contributes to keeping a better position and orientation of the haptic hand. For more details, see Endo et al 25 …”

Section: Multi-fingered Haptic Interface Robotmentioning

confidence: 99%

“…Using a multi-fingered haptic interface robot named HIRO III, 25 which can display and measure three-dimensional forces and positions at five fingertips, we developed a skill transfer method in which the recorded trainer's multiple fingertip positions and forces in a three-dimensional space are transferred to the trainee. 26 In this skill transfer method, the aim of the trainee is to make his/her five-fingertip positions and forces track the trainer's five-fingertip positions and forces, respectively.…”

Section: Introductionmentioning

confidence: 99%

A finger skill transfer system using a multi-fingered haptic interface robot and a hand motion image

2013

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The teaching of how to exert fingertip forces and how to move the fingers is essential for transferring skill using the fingers to perform fine motor tasks. In this paper we accomplish the transfer of fingertip forces and positions in three-dimensional space by combining a multi-fingered haptic interface robot, which can measure and present the three-dimensional forces and positions at five fingertips, and an image display system that records a trainer's hand image and displays it to a trainee. Several experimental results show a high fingertip force and position transferability and the great potential of our proposed transfer system.

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“…It consists of a force actuated 6-DOF robot arm and three fingers with 3-DOF force feedback. This device was upgraded to the five-fingered HIRO III device [20], however, its control system is still complex since each finger has more than one joint. Therefore, the price is relatively high and the device is bulky; it has a weight of about 3.8 kg and requires a control apparatus box which weights 23 kg and has a size of 443×222×464 mm 3 .…”

Section: Introductionmentioning

confidence: 99%

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Ranzani

Sareh

et al. 2014

Smart Mater. Struct.

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This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined together to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.

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Five-fingered haptic interface robot: HIRO III

Cited by 68 publications

References 7 publications

Softness display by a multi-fingered haptic interface robot

Softness display by a multi-fingered haptic interface robot

A finger skill transfer system using a multi-fingered haptic interface robot and a hand motion image

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

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