Abstract
To present three-directional force at ten fingertips of both human hands, we previously developed a multi-fingered bimanual haptic interface consisting of two five-fingered haptic hands and two interface arms. However, there is a risk that haptic hands and interface arms will collide while a user is manipulating the haptic interface. To alleviate this risk, we propose a collision avoidance control for the multi-fingered bimanual haptic interface. In particular, by constructing the collision avoidance using a penalty method, we hope to reduce the user’s feeling of collision insecurity. Through an experiment, we investigated the validity of the proposed control law.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Tachi, S.: Telexistence. World Scientific Publishing Co. Pte. Ltd., Singapore (2010)
Ishii, A.: Operation System of a Double-front Work Machine for Simultaneous Operation. In: 23rd Int. Symp. Automation and Robotics in Construction, pp. 539–542 (2006)
Hayakawa, M., Hara, K., Sato, D., et al.: Singularity Avoidance by Inputting Angular Velocity to a Redundant Axis During Cooperative Control of a Teleoperated Dual-Arm Robot. In: IEEE ICRA, pp. 2013–2018 (2008)
SyberGlove Systems: Haptic Workstation, http://www.cyberglovesystems.com/products/hardware/hapticworkstation.php
Kron, A., Schmidt, G., Petzold, B., et al.: Disposal of Explosive Ordnances by Use of a Bimanual Haptic Telepresence System. In: IEEE ICRA, pp. 1968–1973 (2004)
Peer, A., Buss, M.: A New Admittance-Type Haptic Interface for Bimanual Manipulations. IEEE/ASME Trans. on Mechatronics 13, 416–428 (2008)
Murray, R., Li, Z., Sastry, S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)
Yoshikawa, T., Endo, T., Maeno, T., Kawasaki, H.: Multi-Fingered Bimanual Haptic Interface with Three-Dimensional Force Presentation. In: 9th IFAC Symp. Robot Control, pp. 811–816 (2009)
Endo, T., Kawasaki, H., Mouri, T., et al.: Five-Fingered Haptic Interface Robot: HIRO III. In: WorldHaptics 2009, pp. 458–463 (2009)
Moore, M., Wilhelms, J.: Collision Detection and Response for Computer Animation. Computer Graphics 22, 289–298 (1988)
Hasegawa, S., Sato, M.: Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects. Computer Graphics Forum 23, 529–538 (2004)
Mouri, T., Kawasaki, H., Kigaku, K., Ohtsuka, Y.: Novel Control Methods for Multi-fingered Haptic Interface Robot. In: IROS 2006, 1576–1581 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Endo, T., Yoshikawa, T., Kawasaki, H. (2010). Collision Avoidance Control for a Multi-fingered Bimanual Haptic Interface. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14075-4_36
Download citation
DOI: https://doi.org/10.1007/978-3-642-14075-4_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14074-7
Online ISBN: 978-3-642-14075-4
eBook Packages: Computer ScienceComputer Science (R0)