Haptic Technology

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Haptic technology in robotics has transformed the landscape of remote operations, offering a more nuanced and precise control that mimics human touch. This technological advancement allows operators to control robots from afar, feeling what the robots feel as if they were physically present, which dramatically improves the operator's ability to perform complex tasks.

HaptX Gloves and the Tactile Telerobot

Developed in collaboration with the Converge Robotics Group, the HaptX Gloves are part of the innovative Tactile Telerobot system. This setup enables precise, intuitive control over robotic hands from thousands of miles away, with the gloves providing real-time tactile sensations that simulate actual contact with various objects.

Among the leading developments in this area is the Shadow Dexterous Hand, developed by The Shadow Robot Company in London. This humanoid robot hand is comparable to the average human hand in size and shape and exceeds the human hand in terms of mechanical flexibility and control options.

Design and Functionality

The Shadow Dexterous Hand boasts 24 joints and 20 degrees of freedom, surpassing the human hand's complexity. It is designed to mimic the range of movement of a typical human, featuring a sophisticated joint structure in its fingers and thumb:

• Each of the four fingers is equipped with two one-axis joints linking the phalanges and one universal joint at the metacarpal.
• The little finger includes an additional one-axis joint for enhanced palm curl movements.
• The thumb features a one-axis joint for distal movements, a universal joint at the metacarpal, and another one-axis joint to aid palm curling.
• The wrist consists of two joints that provide flexion/extension and adduction/abduction movements.

The Shadow Hand is available in both electric motor-driven and pneumatic muscle-driven models. The electric version operates with DC motors located in the forearm, while the pneumatic version uses antagonistic pairs of air muscles for movement. Each model is equipped with Hall effect sensors in every joint for precise positional feedback. Additional tactile sensing capabilities range from basic pressure sensors to advanced multimodal tactile sensors like the BioTac from Syntouch Inc., enhancing the hand's sensory feedback to mimic human touch and interaction closely.

Software and Simulation

Control and simulation of the Shadow Hand are facilitated through the Robot Operating System (ROS), which provides tools for configuration, calibration, and simulation. This integration allows for extensive testing and development in a virtual environment, aiding in the hand's continuous improvement and adaptation for various applications.