부산대학교 도서관

A humanoid robot is needed for various tasks in many fields. This paper proposes a method of teleoperation for a humanoid hand robot with a anthropomorphic hand and arm. The robot is controlled through a multi-fingered haptic interface robot called HIRO II using three-dimensional force feedback. The robot has a thumb and four-fingers with 15 DOF and six-dimensional force sensors at fingertips. The system provides the touch sensation of three-dimensional (3-D) force to the user's fingertips. In experiments, 3-D manipulation of humanoid hand robot and 3-D force feedback in contact with an object are shown.