title: Five-Fingered Haptic Interface Robot: HIRO III.
abstract: 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 interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. These results show the high-precision force display and great potential of HIRO III.
authors.forename: T
authors.initials: T
authors.lastname: Endo
authors.forename: H
authors.initials: H
authors.lastname: Kawasaki
authors.forename: T
authors.initials: T
authors.lastname: Mouri
authors.forename: Y
authors.initials: Y
authors.lastname: Ishigure
authors.forename: H
authors.initials: H
authors.lastname: Shimomura
authors.forename: M
authors.initials: M
authors.lastname: Matsumura
authors.forename: K
authors.initials: K
authors.lastname: Koketsu