UA telehand: an integrated robotic hand/simulator system for tele-manipulation via the Internet

摘要

To enhance the dexterity of a tele-manipulation system and to provide a more efficient and intuitive user interface, we have developed an integrated system for remote dextrous manipulation using a multifingered robotic hand through the Internet. This system consists of a three-fingered hand for real-time execution and a graphic simulator for manipulation simulation and command input. We describe the main issues in the development of this system, including system architecture, functions, integration and user interface. We also provide some experiments of remote manipulation of typical objects with this system. Our work verifies the feasibility of such an integrated system, and provides a new approach to the potential application of a multifingered robotic hand.