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HIRO: Multi-fingered Haptic Interface Robot and Its Medical Application Systems

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Multi-finger Haptic Interaction

Part of the book series: Springer Series on Touch and Haptic Systems ((SSTHS))

Abstract

This chapter presents the design and characteristics of a five-fingered haptic interface robot named HIRO and its medical application systems. The aim of the development of HIRO is to provide a high-precision three-directional force at the five human fingertips. HIRO consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic interface can be used in a large workspace and can provide multipoint contact between the user and a virtual environment. Three medical application systems using HIRO, a hand rehabilitation support system, a medical training system using plural devices, and a breast palpation training system, are introduced. Furthermore, a hand haptic interface for an advanced palpation training system, which consists of a multi-fingered haptic interface for fingertips and 1-dimensional force display for finger pads, is presented. These systems show the great potential of HIRO.

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Acknowledgements

This work was supported in part by the Strategic Information and Communications R&D Promotion Program (SCOPE) of the Ministry of Internal Affairs and Communications and by a Grant-in-Aid for Scientific Research from JSPS, Japan ((B) No. 23360184).

Author information

Authors and Affiliations

  1. Gifu University, 1-1 Yanagido, Gifu, 501-1193, Japan

    Haruhisa Kawasaki, Takahiro Endo & Tetuya Mouri

  2. Marutomi Seiko Co., Ltd., Kurachi Aza-Ikuda 3147-7, Seki-shi, Gifu, 501-3936, Japan

    Yasuhiko Ishigure

  3. UAB Aksonas, Europos pr. 121-305, 46339, Kaunas, Lithuania

    Vytautas Daniulaitis

Authors
  1. Haruhisa Kawasaki
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  2. Takahiro Endo
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  4. Yasuhiko Ishigure
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  5. Vytautas Daniulaitis
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Editors and Affiliations

  1. Centre for Automation and Robotics, Universidad Politécnica de Madrid, C/ José Gutiérrez Abascal 2, Madrid, 28006, Madrid, Spain

    Ignacio Galiana

  2. Centre for Automation and Robotics, Universidad Politécnica de Madrid, C/ José Gutiérrez Abascal 2, Madrid, 28006, Madrid, Spain

    Manuel Ferre

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Kawasaki, H., Endo, T., Mouri, T., Ishigure, Y., Daniulaitis, V. (2013). HIRO: Multi-fingered Haptic Interface Robot and Its Medical Application Systems. In: Galiana, I., Ferre, M. (eds) Multi-finger Haptic Interaction. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-5204-0_5

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  • DOI: https://doi.org/10.1007/978-1-4471-5204-0_5

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5203-3

  • Online ISBN: 978-1-4471-5204-0

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