Development of Remote Manipulation System for Disaster Response Robot Hand

In recent years, the demand for robots capable of performing various works in dangerous environments is increasing. In such robots, master-slave control that allows an operator to make a situation determination is suitable. In this paper, we propose a remote control system for a high power robot arm / hand which can work under hazardous environments. The master device is a lightweight system consisting of a large number of tube type sensors and a head mount display, and has a feature that it is easy to attach to the body of the operator. We propose a calculation method that transforms the information obtained from the master device to the slave robot hand/arm. The effectiveness of the proposed system is verified by physical simulation. In addition, a experiment using the actual robot hand is shown.