Learn More
This paper presents a newly developed anthropomorphic robot hand called KH Hand type S, which has high potential of dexterous manipulation and displaying hand shape, and its master slave system using the bilateral controller for five-fingers robot hand. The robot hand is improved by reducing the weight, the backlash of transmission, and the friction between(More)
This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic(More)
This paper presents the design and control of a newly developed five-fingered haptic interface robot named HIRO II. The developed haptic interface can present force and tactile feeling to the five fingertips of the human hand. Its mechanism consists of a 6 degree of freedom (DOF) arm and a 15 DOF hand. The interface is placed opposite the human hand, which(More)
This paper presents the design and the characteristics of a new developed five-fingered haptic interface robot named HIRO II. The haptic interface can present force and tactile feeling at the five fingertips of the human hand. It is designed to be completely safe and similar to the human upper limb both in shape and motion ability. Its mechanism consists of(More)
This paper presents the design concept of a novel electromyogram prosthetic hand, which adopts a grasping strategy consisting of thumb opposition with high grasping force and finger extension with non-backdrivability. This grasping strategy contributes to mass saving and high grasping force. Each finger has 1 degree of freedom (DOF) for flexion/extension,(More)
A virtual robot teaching that consists of human demonstration and motion-intention analysis in a virtual reality environment is an advanced technology of automatic programming for multi-fingered robots. As the type of virtual hand model displayed on-screen, a human-hand model is better than a robot-hand model in terms of teaching time and a stable(More)
This paper considers moments due to friction forces on the human fingertip. A computational technique called the friction moment arc method is presented. The method computes the static and/or dynamic friction moment independent of a friction force calculation. In addition, a new finger holder to display friction moment is presented. This device incorporates(More)