Share control in intelligent arm/hand teleoperated system

Abstract

This system is mainly composed of an industrial robot, dexterous hand (BH-3), graphic simulation and planning module, 6-DOF teleoperated mechanical arm (BH-TMA) and data glove with 5-fingered 11-DOF (BHG-3), etc. It consists of vision, force, torque, fiber, angle, and fingertip tactile sensors. In order to implement some complex operations in the integrated system, we propose a task-oriented hierarchical control share model. Moreover, we also express our viewpoints about share control in the teleoperated system. Finally, the experimental and simulative results are given to show that the share control construction is highly efficiency and effective.