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The sensor arm and the sensor glove II -haptic devieces for vr interface
Abstract
Two haptic devices, the Sensor Arm and the Sensor Glove II, are introduced. The Sensor Arm has 7 degrees of freedom (DOF) which corresponds to the total number of the human DOF. The force feedback at each joint is produced by DC servo motors. The Sensor Glove II has 20 DOF since the human being's finger has 4 DOF. Pulleys are connected to the motors and forces are transmitted through wires in tubes. In virtual wall experiment, the operator touches the it, and when a collision is detected, the appropriate force feedback is generated.
Hand injuries are a frequent problem. The great amount of hand injuries is not only a problem for the affected people but economic consequences follow because rehabilitation takes a long time. Physical therapy after an operation is associated with high personnel expenses. To improve therapy results and reduce cost of rehabilitation a hand exoskeleton was developed. The hand exoskeleton was specifically designed to accomplish requirements of medical applications. For research on control algorithms and rehabilitation programs a prototype supporting all four degrees of freedom of one finger was build. The device can be easily attached and also be adjusted to deformed and scarred hands. In view of the fact that a lot of hand injuries affect only one finger, this prototype could already be functional in physical therapy. This paper presents the construction and the control system of the hand exoskeleton and possible applications in therapy of hand injuries. For the position control a PID controller was implemented and evaluated. The resulting control system allows following of recorded trajectories with sufficient accuracy.
This paper presents a new type of human interface with force
feedback attached to an arm, which we named Sensor Arm. The Sensor Arm
can be utilized as an interface for interactive communication with the
virtual environment and as a master manipulator of a tele-operation
system. The number of degrees-of-freedom (DOF) of the Sensor Arm is
seven, which is the same DOF of a human arm. Angle and torque of each
joint can be measured. Moreover, in this system, force feedback can be
realized at each joint of the human arm. To measure human force a new
type of force sensor system is proposed in the Sensor Arm system. The
structure of the Sensor Arm system and the experimental results are
shown
Summary form only given. We present Sensor Glove II (SGII), a
multi-DOF haptic interface, which has 20 degrees-of-freedom. Each joint
is driven by an actuator through wire transmission. We measure joint
angles by rotary encoders and torques of human fingers by strain-gauges
as the stress of links. The operator can interact with the virtual
environment simulator by this device. It is also used for teleoperation
or telerobotics. The intention is not only that SGII should be used for
telecontrol but also that the robot should learn human skills, and so
perform more dextrous and intelligent manipulation. SGII acquires
information about the complicated movements and forces of human fingers.
It is the first step in the development of the Intelligent Assisting
System (IAS)
Photo(right) of the Sensor .4rm The Sensor Glove I1 is a glove-like haptic device 7 DOF Arm Type Haptic Interface for Teleoperation and Virtual Reality Sys-tems
- T Ohahi
- H Hashimoto
Fig. 1. Structure(1eft) and Photo(right) of the Sensor.4rm The Sensor Glove I1 is a glove-like haptic device. [21 *. N d i j T.Ohahi, H.Hashimoto, " 7 DOF Arm Type Haptic Interface for Teleoperation and Virtual Reality Sys-tems ", IEEE/RS J International Conference on Intelligent Robots and Systems, Vol.1, pp.1266-1271,1998. 0-7803-5038-3/99/$10.00 0 1999 IEEE