An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints

We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism called “circuitous joint,” which covers wide workspace of an operator’s finger. Another is the encounter-type force feedback that enables unconstrained motion of the operator’s finger and natural contact sensation. In this paper, the mechanism and control method of our master hand are introduced and experimental master-slave finger control is conducted.