Teleoperated Grasping Using a Robotic Hand and a Haptic-Feedback Data Glove

摘要

This paper presents a new design of a tactile-enabled open-source tendon driven robotic hand. The upgraded hand, so-called `Ring Ada,' comprises of 3D-printed `rings' used to better control the compliant fingers. Experiments were conducted to enhance postural synergy-based teleoperated grasping using the new multi-finger robotic hand and haptic-feedback data glove for remote human operators.