Teleoperation master arm system with gripping operation devices

摘要

This paper describes a master arm system with gripping operation devices in a tele-operation platform system which we developed in the national project;"Humanoid and Human Friendly Robotics System", organized by AIST(Agency of Industrial Science and Technology) which belongs to MITI(the Ministry of International Trade and Industry). The teleoperation platform system is connected to a humanoid robot with communication links. An operator can remotely operate the robot by using the platform system with reality of existence at the remote site. The master arm system in the teleoperation platform system can provide the operator with reacting force sensation of the robot arms. The gripping operation devices, which are installed on each master arm, can also provide the oeprator with gripping sensation.