Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability

Los Angeles, California, U.S.A. March 22-March 23

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http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2003.1191236

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	Masaki Fujiwara, Yasuyoshi Yokokohji, Tsuneo Yoshikawa, "Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 77, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03), 2003.

	BibTex	x
	@article{ 10.1109/HAPTIC.2003.1191236, author = {Masaki Fujiwara and Yasuyoshi Yokokohji and Tsuneo Yoshikawa}, title = {Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability}, journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on}, volume = {0}, year = {2003}, isbn = {0-7695-1890-7}, pages = {77}, doi = {http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2003.1191236}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on TI - Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability SN - 0-7695-1890-7 SP EP A1 - Masaki Fujiwara, A1 - Yasuyoshi Yokokohji, A1 - Tsuneo Yoshikawa, PY - 2003 KW - null VL - 0 JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on ER -

Masaki Fujiwara, Kyoto University

Yasuyoshi Yokokohji, Kyoto University

Tsuneo Yoshikawa, Kyoto University

In this paper, we apply the concept of dynamic manipulability measure to multi-fingered hands and propose Dynamic Multi-fingered Manipulability measure. The proposed measure considers the internal force and the dynamics of a grasped object as well as the finger dynamics. We then extend Dynamic Multi-fingered Manipulability to a guideline for designing haptic master hands or master-slave hands. Based on the proposed guideline, several joint configurations are evaluated and an optimal link length is determined.

Citation:

Masaki Fujiwara, Yasuyoshi Yokokohji, Tsuneo Yoshikawa, "Guideline for Designing Haptic Master Hands Based on Dynamic Multi-Fingered Manipulability," haptics, pp.77, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03), 2003

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