원격제어를 위한 양손형 5-DoF 햅틱 인터페이스

Abstract

This paper proposes the two-handed 5-DOF interface that can transmit the intended input to the slave device in teleoperation situations. The efficient design of the master device is required for the interaction between robots and humans in hazardous industrial sites. We combined the two-handed concept and the 5-DoF mechanism to solve the phenomenon that the translational motion and rotational motion of the command input to the master device are coupled.