Bilateral Tele-Operated Hand Robot With Communicational Time Delay

Various tasks require a humanoid robot instead of human. This paper proposes a bilateral teleoperation system between a human operator and a humanoid hand robot. The proposed system is able to communicate the master's fingertip force and the slave's fingertip position with a time delay. The experimental results show the effectiveness of the proposed system using a multi-fingered haptic interface robot and humanoid hand robot with three-dimensional force feedback. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.