IEICE TRANSACTIONS on Information
Robotic Hand System for Non-verbal Communication
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.
- Publication
- IEICE TRANSACTIONS on Information Vol.E87-D No.6 pp.1347-1353
- Publication Date
- 2004/06/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- Special Section PAPER (Special Section on Human Communication I)
- Category
Authors
Keyword
Latest Issue
Copyrights notice of machine-translated contents
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Cite this
Copy
Kiyoshi HOSHINO, Ichiro KAWABUCHI, "Robotic Hand System for Non-verbal Communication" in IEICE TRANSACTIONS on Information,
vol. E87-D, no. 6, pp. 1347-1353, June 2004, doi: .
Abstract: 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.
URL: https://global.ieice.org/en_transactions/information/10.1587/e87-d_6_1347/_p
Copy
@ARTICLE{e87-d_6_1347,
author={Kiyoshi HOSHINO, Ichiro KAWABUCHI, },
journal={IEICE TRANSACTIONS on Information},
title={Robotic Hand System for Non-verbal Communication},
year={2004},
volume={E87-D},
number={6},
pages={1347-1353},
abstract={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.},
keywords={},
doi={},
ISSN={},
month={June},}
Copy
TY - JOUR
TI - Robotic Hand System for Non-verbal Communication
T2 - IEICE TRANSACTIONS on Information
SP - 1347
EP - 1353
AU - Kiyoshi HOSHINO
AU - Ichiro KAWABUCHI
PY - 2004
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E87-D
IS - 6
JA - IEICE TRANSACTIONS on Information
Y1 - June 2004
AB - 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.
ER -
English
