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Journal of Robotics
Volume 2011 (2011), Article ID 419465, 8 pages
Research Article

Two-Fingered Haptic Device for Robot Hand Teleoperation

Department of Systems Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan

Received 31 May 2011; Revised 23 August 2011; Accepted 27 September 2011

Academic Editor: Tetsuya Mouri

Copyright © 2011 Futoshi Kobayashi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.