HIRO: Multi-fingered Haptic Interface Robot and Its Medical Application Systems
作者： Haruhisa Kawasaki , Takahiro Endo , Tetuya Mouri , Yasuhiko Ishigure , Vytautas Daniulaitis
DOI: 10.1007/978-1-4471-5204-0_5
关键词:
摘要: This chapter presents the design and characteristics of a five-fingered haptic interface robot named HIRO its medical application systems. The aim development is to provide high-precision three-directional force at five human fingertips. consists 15-degrees-of-freedom (DOF) hand, 6-DOF arm, control system. can be used in large workspace multipoint contact between user virtual environment. Three systems using HIRO, hand rehabilitation support system, training system plural devices, breast palpation are introduced. Furthermore, for an advanced which multi-fingered fingertips 1-dimensional display finger pads, presented. These show great potential HIRO.
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