Data glove control of robot hand with force telepresence

Abstract

Force and touch telepresence has an important effect on robot hand controlling. When controlling humanoid robotic hand has data glove, the movement of robot hand appeared to be rigid because of the lack of touch telepresence. The movement of humanoid robot hand would be more flexible if tactile equipment was installed on data glove. There are two important requirements in tactile equipment of data glove, that is to say the structure of equipment must be compact. Too much complexity would lower the reliability of data glove, on the other hand, and the equipment must simulate the touch telepresence as actual as possible, which would influence the realness of the operation directly. In order to balance the structure of the data glove and the realness of tactile simulation, a new system that could build tactile telepresence between robot hand and human hand has been designed and manufactured, including a data glove and a humanoid robot hand. The data glove has 12 attitude transducers on the back and 14 groups of silica gel electrodes to irritate human hand by electrical pulses and simulate the touch telepresence. The humanoid robot hand use cord to transmit the motion which has 13 servo to control the movement of each joint accurately and 14 accurate pressure sensor to assess the grab situation.