20 DOF Five Fingered Glove Type Haptic Interface –	Sensor Glove II	–

Toshio Kitada; Yasuharu Kunii; Hideki Hashimoto

doi:10.20965/jrm.1997.p0171

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JRM Vol.9 No.3 pp. 171-176

doi: 10.20965/jrm.1997.p0171

(1997)

Paper:

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20 DOF Five Fingered Glove Type Haptic Interface – Sensor Glove II –

Toshio Kitada^, Yasuharu Kunii^ and Hideki Hashimoto^

^*Asahi Chemical Industry Co., Ltd. 2-2-1 Asahi-machi, Nobeoka-shi, Miyasaki 882, Japan

^**Dept. of Electrical Engineering, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo, 112 Japan

^***Institute of Industrial Science, University of Tokyo 7-22-1 Roppongi, Minato-ku Tokyo, 106 Japan

Received:

January 18, 1996

Accepted:

February 21, 1997

Published:

June 20, 1997

Keywords:

Human interface, Haptic interface, Force feedback, Virtual reality, Tele-operation

Abstract

In this paper, a new haptic human interface device to communicate with a virtual world, which we named Sensor Glove II (SGII), is presented. SGII, which is drawn on the human hand, corresponds to the dexterous manipulation of human fingers and acquires angles and torque of each joint. SGII adds the reaction forces of a virtual object to the fingers. The forces are calculated in the Dynamic Force Simulator we have developed. We outline the design, characteristics and structure of SGII, and display preliminary experimental result to verify the stability and performance of SGII.

Cite this article as:

Toshio Kitada, Yasuharu Kunii, and Hideki Hashimoto, “20 DOF Five Fingered Glove Type Haptic Interface – Sensor Glove II –,” J. Robot. Mechatron., Vol.9, No.3, pp. 171-176, 1997.

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20 DOF Five Fingered Glove Type Haptic Interface – Sensor Glove II –

Toshio Kitada*, Yasuharu Kunii** and Hideki Hashimoto***

Toshio Kitada^, Yasuharu Kunii^ and Hideki Hashimoto^