Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2003, Pages 2229-2234

  Koyama, Tatsuya ^a   Takemura, Kenjiro ^b   Maeno, Takashi ^a  

^a KEIO UNIVERSITY   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

STATIC FRICTION; ULTRASONIC CLUTCHES;

ALGORITHMS; FEEDBACK; FINITE ELEMENT METHOD; FRICTION; LOADS (FORCES); OSCILLATIONS; STABILITY; TORQUE; ULTRASONIC DEVICES;

HAPTIC INTERFACES;

EID: 0347409417     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. Grigore C. Burdea, Force and touch feedback for Virtual Reality, John Wiley & Sons, Inc., New York, 1996
2. http://www.immersion.com/
3. http://www.sensable.com/
4. Gomez, D., G. Burdea, and N. Langrana, "Integration of the Rutgers Master II in a Virtual Reality Simulation", IEEE Virtual Reality Annual Int. Symp. (VRAIS), pp. 198-202, 1995
5. S. C. Jacobsen, E.K. Iversen, D. F. Knutti, R.T. Johnson and K. B. Biggers, "Design of the Utah/MIT Dexterous Hand", Proc. IEEE Int. Con. Robotics and Automation, IEEE, pp. 1520-1532, 1986
6. http://www.cs.utah.edu/classes/cs6360-jmh/Nahvi/haptic.html#rml
7. http://www.sarcos.com/
8. T. Kitada, Y. Kunii and H. Hashimoto, "20 DOF Five Fingered Glove Type Haptic Interface -Sensor Glove II-", J. Robotics and Mechatronics, Vol.9, No.3, pp. 171-176, 1997
9. I. Yamano, K. Takemura, K. Endo and T. Maeno, "Method for Controlling Master-Slave Robots using Switching and Elastic Elements", Proc. IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1717-1722, 2002
10. T. Koyama, I. Yamano, K. Takemura and T. Maeno, "Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation", IEEE/RSJ International Conference on Intelligent Robots and System 2002, Vol. 3, pp. 2905-2910, 2002
11. O. Saito, K. Komoriya, R. Murata, "Passive Force Display with Powder Clutch", Proc. of the 1998 JSME Conference on Robotics and Mechatronics, No. 98-4, pp. 2AII1-6, 1998(in Japanese)
12. K. Fukusumi, M. Sakaguchi, J. Furusho, "Basic Study on Passive Force Display", Proceedings of the 43nd Annual Conference of the Institute of Systems, Control and Information Engineers, ISCIE, pp. 305-306, 1999
13. J. J. Blech, "On Isothermal Squeeze Films", ASME Jnl. of Lubrication Technology, Vol. 105, pp. 615-620, 1983
14. K. Hashiba, K. Terao, T. Kunoh, "A Study on Ultrasonic Levitation", XIXth International Congress of Theoretical and Applied Mechanics, No. 1996-8, pp. 345, 1996