テレオペレーション向け力覚フィードバックを実現する小型・広力域の磁気粘性流体ハンド外骨格
Compact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation
磁気粘性流体ブレーキを用いた小型軽量のハンド外骨格を開発し、広い力域の力覚フィードバックで物体の硬さ識別やテレ把持時の接触力低減を実現した。
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著者: Xianlong Mai, Rui Yu, Rui Chen, Daniele Leonardis, Wenbo Li, Domenico Chiaradia, Antonio Frisoli, Shuaishuai Sun
分類: cs.RO, eess.SY
原文アブストラクト
Hand kinesthetic feedback is crucial for restoring and enhancing human perception of force and displacement in robotic hand teleoperation. Wide perception range of force feedback is vital in rendering objects of different stiffness, especially for high-stiffness rendering. However, existing approaches struggle to achieve wide range of force feedback while maintaining compact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving force of 1.01 N. Experimental results show that the system allows users to discriminate object stiffness using kinesthetic feedback alone. In a tele-grasping task, when both conditions achieved a 100% success rate, kinesthetic feedback led to a 28.2% reduction in object contact force compared to visual feedback only, enhancing object safety and operator immersion. Questionnaire results further indicate that kinesthetic feedback improves reliability, realism, and user confidence during teleoperation.