Development of working multifinger hand manipulator

Abstract

Introduces the hardware and software of the multiple sensory bilateral control for the multi-finger manipulator which is remotely controlled by the master-slave method. From experiments and evaluation the authors show that it is possible to carry out detailed works, which had been impossible when using the conventional end effector, by controlling through a computer the slave finger manipulator consisting of 14 axes equipped with joint angle/power sensors and tactile sensors, and the master finger manipulator which operates the slave finger manipulator and the feeling generation mechanism conveys the sensation felt by the slave finger manipulator to the operator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>