Kyosuke Ushimaru, Noritaka Sato, Yoshifumi Morita
Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
pp. 27–31
ABSTRACT
Teleoperated rescue robots have recently been on demand. However, it is known that the teleoperation of a robot hand mounted on a rescue robot is difficult. Therefore, we proposed a new haptic device that presents a haptic sensation for the teleoperation of a robot hand. The device stimulates the back of the hand instead of the palm of the operator. The determination of the required specifications by an experiment with subjects is presented in this paper. To design the device, the interval of the stimulation points (i), the diameter of the stimulation point (d), and the force of the stimulation (f) should be optimized. From the experimental results, we found that the accuracy rate was highest, when (i, d, f) = (30mm, 6mm, 0.9kgf). Moreover, we considered the decided specification in an additional experiment.

ARTICLE INFO
Article History
Received 25 November 2020
Accepted 11 May 2021

Keywords
Rescue robot
Haptic device
Teleoperation
Robot hand
Palm

JAALR2106

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