Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand

Abstract

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)
DOI: 10.1109/TRO.2007.906258

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