Collision avoidance control for a multi-fingered bimanual haptic interface

Authors:
Takahiro Endo;Takashi Yoshikawa;Haruhisa Kawasaki
Affiliations:
Department of Human and Information Systems, Gifu University, Gifu, Japan;Department of Human and Information Systems, Gifu University, Gifu, Japan;Department of Human and Information Systems, Gifu University, Gifu, Japan
Venue:
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Year:
2010

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Abstract

To present three-directional force at ten fingertips of both human hands, we previously developed a multi-fingered bimanual haptic interface consisting of two five-fingered haptic hands and two interface arms. However, there is a risk that haptic hands and interface arms will collide while a user is manipulating the haptic interface. To alleviate this risk, we propose a collision avoidance control for the multi-fingered bimanual haptic interface. In particular, by constructing the collision avoidance using a penalty method, we hope to reduce the user's feeling of collision insecurity. Through an experiment, we investigated the validity of the proposed control law.