Precise space telerobotic system using 3-finger multisensory hand

Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

“…In telemanipulation (see, e.g., [9], [158], [46], [59], [157], [100], and [74]), movements of the master hand are replicated by the anthropomorphic device. A feeling of "immersion" of the operator in the remote (possibly virtual) environment may be enhanced by the good match of the machine hand functions with the natural ones, although there exist examples of non strictly anthropomorphic hands intended also for remote operation (see, e.g., [22]).…”

Data Fusion of Robot Wrist Forces Based on Finger Force Sensors and MLF Neural Network

“…Extravehicular mobile robots are needed in unmanned space facilities for electric connector mating/demating, bolt fastener mating/demating, solar cell sheet and thermal blanket handling, electric wire handing, floating object capture and so on [Machida et al, 1995]. An extravehicular mobile robot (EMR) with two arms equipped with two grippers at the arm ends was developed for the purpose [Xu & Li, 2000;Xie, 2000;Mei et al, 2000].…”

Estimation of wrist force/torque using data fusion of finger force sensors

“…Another is to ensure the safety of operation of robots, e.g., a kind of space robot the extravehicular mobile robot (EMR) has two arms equipped with two grippers at the arm ends. The gripper has not only the hand function to grasp the work-piece, but also the foot function to connect to the I-shaped beam fixed on the experimental platform [4][5][6][7][8]. Therefore, the gripper must grasp objects firmly during the EMR moving and operating processes, otherwise the robot probably separates itself from the experimental platform and becomes the space rubbish.…”