Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow | Zendy

Shuichi Ino | Zendy; Takashi Izumi | Zendy; Makoto Takahashi | Zendy; Tohru Ifukube | Zendy

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Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow

Author(s) -

Shuichi Ino,

Takashi Izumi,

Makoto Takahashi,

Tohru Ifukube

Publication year - 1992

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1992.p0043

Subject(s) - actuator , bellows , pneumatic actuator , rotary actuator , computer science , robot , position (finance) , noise (video) , point (geometry) , control theory (sociology) , mechanical engineering , control engineering , engineering , artificial intelligence , control (management) , mathematics , finance , economics , image (mathematics) , geometry

We have been studying on a tele-existence robot hand based on the psychophysical analysis of the tactile information processing. This report proposes an actuator to get a feedback of the position and the force from the robot hand to the human hand. The actuator consists of metal hydrides (MH) covered with copper, Peltier elements to heat or cool the MH and a cylinder with metal bellows. The response characteristics of this actuator were investigated from a point of view of the practical use. The actuator was found to be suitable for the teleexistence hand because it may work without noise, may smoothly attach to the human hand and may be easily controlled by a microprocessor.

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