Advertisement
Published in:
2010 | OriginalPaper | Chapter
Collision Avoidance Control for a Multi-fingered Bimanual Haptic Interface
Authors : Takahiro Endo, Takashi Yoshikawa, Haruhisa Kawasaki
Published in: Haptics: Generating and Perceiving Tangible Sensations
Publisher: Springer Berlin Heidelberg
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
To present three-directional force at ten fingertips of both human hands, we previously developed a multi-fingered bimanual haptic interface consisting of two five-fingered haptic hands and two interface arms. However, there is a risk that haptic hands and interface arms will collide while a user is manipulating the haptic interface. To alleviate this risk, we propose a collision avoidance control for the multi-fingered bimanual haptic interface. In particular, by constructing the collision avoidance using a penalty method, we hope to reduce the user’s feeling of collision insecurity. Through an experiment, we investigated the validity of the proposed control law.