NDLI: Development of Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback

Please wait, while we are loading the content...

Development of Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback

Content Provider	Semantic Scholar
Author	Koyama, Tatsuya Yamano, Ikuo Takemura, Kenjiro Maeno, Takashi
Copyright Year	2002
Abstract	A control methodology for master-slave systems using passive force feedback has proposed by the authors. The methodology solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and complicated control algorithm. In the present paper, a multi-fingered exoskeleton haptic device (master hand) with passive force feedback function is developed. First, the exoskeleton master hand with three fingers (12 degrees of freedom) is designed and produced. Each finger of the master hand consists of a link mechanism with elastic-shaft joints and clutches. The master hand makes fingertip positions and angles of index finger, middle finger and thumb to be measured using link mechanisms. Furthermore, it also enables passive force feedback to an operator by the same link mechanism used for the geometric measurements. Then, a virtual reality system of human hand is constructed using the master hand and the control methodology. Using the system, sensory evaluations are conducted to confirm the usability of the developed master hand and the possibility of the control methodology in virtual reality system. Virtual reality system using the master hand and the methodology is constructed. As a result, the subjects possibly recognize the stiffness of the objects in the virtual environment.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://lab.sdm.keio.ac.jp/maenolab/previoushp/paper/tvrsj02_koyama.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in