The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual\nworlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand\ncontroller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and\nposture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling\nstructure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting\nat one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the\nsystem applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy\neffectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties.\nThe translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than\n0.05mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space,\nlarger than 1Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.
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