V-04

The Sensor Arm and The Sensor Glove II
-Haptic Devieces for VR Interface-

Authors: Toshiyuki Ohashi, Masahiro Ohta, Hideki Hashimoto
Affiliation:Institute of Industial Science, University of Tokyo

Abstract
In this video, we will introduce two haptic devices, the Sensor Arm and the Sensor Glove II.

The Sensor Arm is a haptic device covering the human arm. It has 7 degrees of freedom, which corresponds to the total number of degrees of freedom for the human arm. The force feedback at each joint is produced by DC servo motors. In the Sensor Arm system, two different types of force sensors are used to determine the torque of each joint. One is a 6 axis force sensor installed in the bar at the end of the device. The other sensor is one that we designed to measure the perpendicular forces in the upper arm and the fore arm. The Sensor Arm is an interface for interactive communication with the virtual environment. It can also be used as a master manipulator of a tele-operation system.

The Sensor Glove II is a glove-like haptic device. Since each finger has 4 degrees of freedom, the Sensor Glove II was designed with 20 degrees of freedom. Pulleys are connected to the motors and forces are transmitted through wires in tubes. In the virtual wall experiment, the operator touches the virtual wall. If a collision is detected, the appropriate force feedback is generated.

Our next goal is to integrate these devices with tele-operation systems.

Masahiro Ohta
ohta@vss.iis.u-tokyo.ac.jp