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A finger skill transfer system using a multi-fingered haptic interface robot and a hand motion image

Published online by Cambridge University Press:  29 May 2013

Takahiro Endo ,
Mana Kobayashi  and
Haruhisa Kawasaki
Takahiro Endo*
Affiliation:
Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Mana Kobayashi
Affiliation:
Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Haruhisa Kawasaki
Affiliation:
Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
*
*Corresponding Author. E-mail: tendo@gifu-u.ac.jp
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Summary

The teaching of how to exert fingertip forces and how to move the fingers is essential for transferring skill using the fingers to perform fine motor tasks. In this paper we accomplish the transfer of fingertip forces and positions in three-dimensional space by combining a multi-fingered haptic interface robot, which can measure and present the three-dimensional forces and positions at five fingertips, and an image display system that records a trainer's hand image and displays it to a trainee. Several experimental results show a high fingertip force and position transferability and the great potential of our proposed transfer system.

Keywords

Haptic interfacesMan–machine systemsVirtual realityFine motor skill in fingersSkill transferHand motion image
Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1251 - 1261
Copyright
Copyright © Cambridge University Press 2013 

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