Multipoint haptic device for robot hand teleoperation

摘要

A haptic feedback system is required to assist teleoperation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to operator's multiple finger knuckles. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.