Design Of Master-Slave Humanoid Hands With Force-Feedback

Master-slave teleoperation manipulator is mainly used in remote defense,telemedicine and remote entertainment.At present,most master-slave robots only have visual feedback.The operator sends instructions to the robot by observing the screen.However,visual feedback only can't guarantee that the operator makes the best manipulation decisions.So it is necessary to add the force feedback into teleoperation system.In order to implement force feedback in teleoperation systems,a design of master-slave humanoid hands with force-feedback is given in this paper.Underactuated master and slave hands are driven via ropes,with each finger driven by a motor.The force feedback sensors are installed at the fingertips of the master and slave hands.Based the analysis of the structure of human hands,mechanical structures of master/slave hand are given.According to the kinematics model of the manipulator,the forward/inverse kinematics solutions and Jacobian matrix are solved.Combining the mechanical features of this robot hand,kinds of typical grasp models are classified.Finally,feedback experiments on the teleoperation systems are performed to test the grip performance of the master-slave hand.To overcome the shortcomings of the motor,a new type of actruator using shape memory alloy(SMA)is proposed in this paper.The experiment of the SMA actuator is carried out to test the performance of the SMA actuator.