MASTER AND SLAVE SYSTEM DESIGN OF A DEXTEROUS HAND WITH FORCE AND TACTILE TELEPRESENCE

In teleoperated tasks, the operators usually lack force and tactile telepresence. In order to solve this problem, this paper introduces a system for dexterous hand with force and-tactile telepresence. The problems about sensing and reproduction of tactile and force are discussed.We present some new methods to reproduce-tactile using fuzzy control and to reproduce force using new force feedback-position structure.Finally,the experimental result is gived.