TY - GEN
T1 - Telemanipulation with the DLR/HIT II robot hand using a dataglove and a low cost force feedback device
AU - Liarokapis, Minas V.
AU - Artemiadis, Panagiotis
AU - Kyriakopoulos, Kostas J.
PY - 2013/10/15
Y1 - 2013/10/15
N2 - In this paper a series of teleoperation and manipulation tasks are performed with the five fingered robot hand DLR/HIT II. Two different everyday life objects are used for the manipulation tasks; a small ball and a rectangular object. The joint-to-joint mapping methodology is used to map human to robot hand motion, taking into account existing kinematic constraints such as synergistic characteristics and joint couplings. The Cyberglove II motion capture dataglove is used to measure human hand kinematics. A robot hand specific fast calibration procedure is used to map raw dataglove sensor values to human joint angles and subsequently through the mapping procedure, to DLR/HIT II joint angles. A novel low cost force feedback device is developed, in order for the user to be able to detect contact and perceive the forces exerted by the robot fingertips, during manipulation tasks. The design of the force feedback device is based on RGB LEDs that provide visual feedback and vibration motors that provide vibrotactile feedback.
AB - In this paper a series of teleoperation and manipulation tasks are performed with the five fingered robot hand DLR/HIT II. Two different everyday life objects are used for the manipulation tasks; a small ball and a rectangular object. The joint-to-joint mapping methodology is used to map human to robot hand motion, taking into account existing kinematic constraints such as synergistic characteristics and joint couplings. The Cyberglove II motion capture dataglove is used to measure human hand kinematics. A robot hand specific fast calibration procedure is used to map raw dataglove sensor values to human joint angles and subsequently through the mapping procedure, to DLR/HIT II joint angles. A novel low cost force feedback device is developed, in order for the user to be able to detect contact and perceive the forces exerted by the robot fingertips, during manipulation tasks. The design of the force feedback device is based on RGB LEDs that provide visual feedback and vibration motors that provide vibrotactile feedback.
KW - Force Feedback Device
KW - Mapping Human to Robot Motion
KW - Telemanipulation
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84885221599&partnerID=8YFLogxK
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U2 - 10.1109/MED.2013.6608758
DO - 10.1109/MED.2013.6608758
M3 - Conference contribution
AN - SCOPUS:84885221599
SN - 9781479909971
T3 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
SP - 431
EP - 436
BT - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013
Y2 - 25 June 2013 through 28 June 2013
ER -