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In this paper, a novel type of haptic human-machine interaction was presented to realize teleoperation. The system, consisting of 5 degrees of freedom (DOF) manipulator arm, a gripper and the virtual reality(VR) headset, thus it could enhance the flexibility of manipulation, improving the accuracy of grasp and completing complex and delicate tasks requiring different moving speeds. The detailed design, working space and kinematics of the prototype were discussed, and the experimental results by simulation of grasping bananas showed that the system proposed could further improve the working space and the flexibility of traditional manipulators.

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A Novel Moving Strategy of Teleoperating Manipulation via Exo-Gloves

  • 会议论文

  • 发表日期：

    2025年

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  • Yanjun Chen,
  • Yipeng Li,
  • Wenfu Du,
  • Puyi Zeng,
  • Zhongjiang Cheng,
  • Yang Zhang

摘要

In this paper, a novel type of haptic human-machine interaction was presented to realize teleoperation. The system, consisting of 5 degrees of freedom (DOF) manipulator arm, a gripper and the virtual reality(VR) headset, thus it could enhance the flexibility of manipulation, improving the accuracy of grasp and completing complex and delicate tasks requiring different moving speeds. The detailed design, working space and kinematics of the prototype were discussed, and the experimental results by simulation of grasping bananas showed that the system proposed could further improve the working space and the flexibility of traditional manipulators.