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
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.