Summary
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Robotic Hand System for Non-verbal Communication Kiyoshi HOSHINO Ichiro KAWABUCHI Publication IEICE TRANSACTIONS on Information and Systems Vol.E87-D No.6 pp.1347-1353 Publication Date: 2004/06/01 Online ISSN: DOI: Print ISSN: 0916-8532 Type of Manuscript: Special Section PAPER (Special Section on Human Communication I) Category: Keyword: non-verbal communication, humanoid robotic hand, transmitting feelings by movement, the sign language, Full Text: PDF(963.3KB)>>
Summary: The purpose of this study is to design a humanoid robotic hand system that is capable of conveying feelings and sensitivities by finger movement for the non-verbal communication between men and robots in the near future. In this paper, studies have been made in four steps. First, a small-sized and light-weight robotic hand was developed to be used as the humanoid according to the concept of extracting required minimum motor functions and implementing them to the robot. Second, basic characteristics of the movement were checked by experiments, simple feedforward control mechanism was designed based on velocity control, and a system capable of tracking joint time-series change command with arbitrary pattern input was realized. Third, tracking performances with regard to sinusoidal input with different frequencies were studied for evaluation of the system thus realized, and space- and time-related accuracy were investigated. Fourth, the sign language motions were generated as examples of information transmission by finger movement. A series of results thus obtained indicated that this robotic hand is capable of transmitting information promptly with comparatively high accuracy through the movement. | ||||||||||
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