Telemanipulation with the DLR/HIT II robot hand using a dataglove and a low cost force feedback device

Minas V. Liarokapis, Panagiotis Artemiadis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages431-436
Number of pages6
DOIs
StatePublished - Oct 15 2013
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: Jun 25 2013Jun 28 2013

Publication series

Name2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings

Other

Other2013 21st Mediterranean Conference on Control and Automation, MED 2013
CountryGreece
CityPlatanias-Chania, Crete
Period6/25/136/28/13

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Keywords

  • Force Feedback Device
  • Mapping Human to Robot Motion
  • Telemanipulation
  • Teleoperation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Liarokapis, M. V., Artemiadis, P., & Kyriakopoulos, K. J. (2013). Telemanipulation with the DLR/HIT II robot hand using a dataglove and a low cost force feedback device. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings (pp. 431-436). [6608758] (2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings). https://doi.org/10.1109/MED.2013.6608758