Abstract
We have developed the five-fingered Haptic Interface Robot: HIRO II + that can present the force at the human five fingertips. Since the number of the wiring cables for motors and sensors increases by making the robot multi-DOF, it is a big obstruction of the miniaturization and the smooth movement of the robot. So, we developed the wire-saving interface board which is based on FPGA, and we considered the control system of HIRO II + . This paper presents the concept of FPGA-based control system for the wire-saving of HIRO II + and presents the experimental result to show high potential of the interface.
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© 2008 Springer-Verlag Berlin Heidelberg
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Endo, T., Kawachi, Y., Kawasaki, H., Mouri, T. (2008). FPGA-Based Control for the Wire-Saving of Five-Fingered Haptic Interface. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_68
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DOI: https://doi.org/10.1007/978-3-540-69057-3_68
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
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