Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and   Elbow

Shuichi Ino; Takashi Izumi; Makoto Takahashi; Tohru Ifukube

doi:10.20965/jrm.1992.p0043

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JRM Vol.4 No.1 pp. 43-48

doi: 10.20965/jrm.1992.p0043

(1992)

Paper:

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Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow

Shuichi Ino, Takashi Izumi, Makoto Takahashi and Tohru Ifukube

Research Institute of Applied Electricity, Hokkaido University, Kita 12-jou Nishi 6-chome, Kita-ku, Sapporo, Hokkaido 060, Japan

Received:

January 10, 1992

Accepted:

January 21, 1992

Published:

February 20, 1992

Keywords:

Master-slave robot hand with Sensory Feedback, Hydrogen absorbing alloys, Metal hydride actuator, Tele-existence robot, Virtual reality, Functional prehension/elbow orthosis

Abstract

We have been studying on a tele-existence robot hand based on the psychophysical analysis of the tactile information processing. This report proposes an actuator to get a feedback of the position and the force from the robot hand to the human hand. The actuator consists of metal hydrides (MH) covered with copper, Peltier elements to heat or cool the MH and a cylinder with metal bellows. The response characteristics of this actuator were investigated from a point of view of the practical use. The actuator was found to be suitable for the teleexistence hand because it may work without noise, may smoothly attach to the human hand and may be easily controlled by a microprocessor.

Cite this article as:

S. Ino, T. Izumi, M. Takahashi, and T. Ifukube, “Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow,” J. Robot. Mechatron., Vol.4, No.1, pp. 43-48, 1992.

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