Bilateral Tele-operated Hand Robot with Communicational Time Delay

Abstract Various tasks require a humanoid robot instead of human. This paper proposes a bilateral tele-operation system between a human operator and a humanoid hand robot. The proposed system is able to communicate the master’s fingertip force and the slave’s fingertip position with a time delay. The experimental results show the effectiveness of the proposed system using a multi-fingered haptic interface robot and humanoid hand robot with three-dimensional force feedback.