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Article

Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System

1
Interfaculty Initiative in Information Studies, The University of Tokyo, Tokyo 153-8505, Japan
2
Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan
3
School of Engineering, Tokyo Institute of Technology, Kanagawa 226-8503, Japan
4
Information Technology Center, The University of Tokyo, Tokyo 113-8656, Japan
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Katsuki, Y.; Yamakawa, Y.; Watanabe, Y.; Ishikawa, M. Development of Fast-Response Master-Slave System Using High-speed Non-contact 3D Sensing and High-speed Robot Hand. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September–2 October 2015; pp. 1236–1241.
Current address: Komaba 4-6-1, Meguro-ku, Tokyo 153-8505, Japan.
§
Current address: Sony Imaging Products & Solutions Inc., Tokyo 108-0075, Japan.
Robotics 2021, 10(1), 41; https://doi.org/10.3390/robotics10010041
Received: 15 January 2021 / Revised: 24 February 2021 / Accepted: 26 February 2021 / Published: 3 March 2021
(This article belongs to the Section Intelligent Robots and Mechatronics)
This paper focuses on development of a high-speed, low-latency telemanipulated robot hand system, evaluation of the system, and demonstration of the system. The characteristics of the developed system are the followings: non-contact, high-speed 3D visual sensing of the human hand, intuitive motion mapping between human hands and robot hands, and low-latency, fast responsiveness to human hand motion. Such a high-speed, low-latency telemanipulated robot hand system can be considered to be more effective from the viewpoint of usability. The developed system consists of a high-speed vision system, a high-speed robot hand, and a real-time controller. For the developed system, we propose new methods of 3D sensing, mapping between the human hand and the robot hand, and the robot hand control. We evaluated the performance (latency and responsiveness) of the developed system. As a result, the latency of the developed system is so small that humans cannot recognize the latency. In addition, we conducted experiments of opening/closing motion, object grasping, and moving object grasping as demonstrations. Finally, we confirmed the validity and effectiveness of the developed system and proposed method. View Full-Text
Keywords: telemanipulated system; high-speed vision; high-speed visual feedback; high-speed robot hand telemanipulated system; high-speed vision; high-speed visual feedback; high-speed robot hand
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MDPI and ACS Style

Yamakawa, Y.; Katsuki, Y.; Watanabe, Y.; Ishikawa, M. Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System. Robotics 2021, 10, 41. https://doi.org/10.3390/robotics10010041

AMA Style

Yamakawa Y, Katsuki Y, Watanabe Y, Ishikawa M. Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System. Robotics. 2021; 10(1):41. https://doi.org/10.3390/robotics10010041

Chicago/Turabian Style

Yamakawa, Yuji, Yugo Katsuki, Yoshihiro Watanabe, and Masatoshi Ishikawa. 2021. "Development of a High-Speed, Low-Latency Telemanipulated Robot Hand System" Robotics 10, no. 1: 41. https://doi.org/10.3390/robotics10010041

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