This paper presents an activity teaching and playback system for multi-fingered hand-arm robot. Activity of hand is taught by dataglove that been fixed on the manipulator, motion of manipulator is decided by operator's hand that wears dataglove, force is determined by external minitype sensors that mounted on operator's finger-tips. Direct teaching is utilized therefore teaching parameters are determined by operator's intuition. Motion of manipulator and hand can be taught simultaneously. The system is simple and easily being used. In process of playback, a special force playback formula is proposed as the some inaccuracy of dataglove exists. This system is being expected to be applied for grasping tasks.
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