Haptic Teleoperation of Humanoid Robot Hand Using Three-Dimensional Force Feedback

This paper presents experimental results of the haptic teleoperation of humanoid robot hand using three-dimensional force feedback. The humanoid robot hand called KH Hand, which has a thumb and four-fingers with 15 DOF, is teleoperated through a multi-fingered haptic interface robot called HIRO III. This haptic teleoperation system provides the touch sensation of three-dimensional force to the user's fingertips. Experiments show high performance in three-dimensional manipulation.