Abstract
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.
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Endo, T., Yoshikawa, T., Kawasaki, H. (2010). Collision Avoidance Control for a Multi-fingered Bimanual Haptic Interface. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14075-4_36
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DOI: https://doi.org/10.1007/978-3-642-14075-4_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14074-7
Online ISBN: 978-3-642-14075-4
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