Abstract
In this work, we present an exoskeletal haptic device named SKK Hand Master. The device is semi-directly driven by linkages with ultrasonic motors, which has characteristic features close to cybernetic actuators. In the control of the device, we propose a method of measuring the joint positions and joint torques of the finger and a new control method called PWM/PS is presented to overcome the intrinsic disadvantages of ultrasonic motors such as hysteresis. Construction of the device is addressed and several results of experiments for performance evaluation are included.
| Original language | English |
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| Pages | 1131-1136 |
| Number of pages | 6 |
| State | Published - 2000 |
| Event | 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan Duration: 31 Oct 2000 → 5 Nov 2000 |
Conference
| Conference | 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Japan |
| City | Takamatsu |
| Period | 31/10/00 → 5/11/00 |