Design and Development of a Dexterous Master Glove

for Nuclear Waste Telemanipulation

Florian Gosselin

, Mathieu Grossard, Djibril Diallo, Benoit Perochon and Pascal Chambaud

Université Paris-Saclay, CEA, LIST, F-91120 Palaiseau, France

Keywords: Force Feedback, Dexterous Interface, Telemanipulation.

Abstract: The rise of the nuclear industry in middle of the last century required the development of remotely controlled

robotic solutions. Researches on radioactivity and its applications were initially performed in gloveboxes and

hot cells with which operators can efficiently and safely access dangerous materials at distance using

telemanipulators. Owing to the relatively limited variety of the objects used in such environments, and to the

fact that they can usually be adapted for remote manipulation, it was possible to efficiently grasp them using

purely mechanical or robotic 6 degrees of freedom (DoF) master-slave systems equipped with bi-digital

grippers on the slave side and simple handles on the master side. Such solutions, which were perfectly adapted

for handling a limited quantity and variety of radioactive material, are however no more sufficient when

processing huge quantities of nuclear waste accumulated over time and/or produced at the occasion of

dismantling operations occurring decades later at the end of the nuclear power plants lifecycle. The quantity

and diversity of nuclear waste require more efficient and versatile systems. To answer this challenge and

increase the operators’ productivity, we developed a novel dexterous master-slave system composed of a tri-

digital master glove and a remotely controlled three fingers dexterous gripper. This paper presents the design

and development of this master hand device. We first introduce its design rationale, then we present its electro-

mechanical design, with details on the kinematics, actuators, sensors and controller, and finally its integration

in a master-slave system which is used to validate its ability to perform dexterous telemanipulation.

1 INTRODUCTION

The rise of the nuclear industry in the middle of the

twentieth century required the development of

efficient processes allowing to exploit its

extraordinary power for both military applications

and for the production of electricity. Owing to the

health hazard associated with radioactivity, it was not

possible to take irradiated materials in hands as in

other industries. It was of critical importance to

develop technological solutions allowing to remotely

grasp and manipulate radioactive objects without

exposing operators to danger. The solution found by

researchers and engineers was to use gloveboxes and

hot cells with which operators can access dangerous

materials safely at distance using remote

manipulation means, among which telemanipulators

are the most advanced and efficient solutions. Thanks

to the relatively limited variety of the to-be-grasped

objects, it was possible to adapt them for remote

manipulation, and 6 DoF master-slave systems

https://orcid.org/0000-0003-3412-8144

equipped with bi-digital grippers on the slave side and

simple handles on the master side were sufficient for

these pioneering activities. Indeed, various

telemanipulators, being either purely mechanical

systems of robotic devices, were developed and used

in nuclear installations (Köhler, 1981; Vertut, 1984).

Such systems, especially those benefiting from

computer assisted telemanipulation functions, prove

to be very efficient and are still in use today, for

example in the recycling plant of La Hague in France

(Piolain et al., 2010; Geffard et al., 2012).

Such solutions, which were perfectly adapted for

handling a limited quantity and variety of radioactive

material, are however no more sufficient when

dealing with dismantling operations required decades

later at the end of the nuclear power plants lifecycle,

or for processing the huge quantity of waste

accumulated over the years of exploitation of these

installations. The quantity and diversity of nuclear

waste materials require more efficient and versatile

systems. This was precisely the objective of the

Gosselin, F., Grossard, M., Diallo, D., Perochon, B. and Chambaud, P.

Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation.

DOI: 10.5220/0010577204590468

In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2021), pages 459-468

ISBN: 978-989-758-522-7

459

RoMaNS (i.e. Robotic Manipulation for Nuclear Sort

and Segregation) project, financed by the European

Horizon 2020 research program, to advance the state

of the art in telemanipulation and develop novel

solutions to solve the challenging and safety-critical

industrial problem of sorting and segregating such

irradiated material (ROMANS, 2015) (WNN, 2015)

(Marturi, 2016). To better understand the problem, it

can be recalled that in the sole UK for example,

intermediate level waste amount to about 1.4 million

cubic meters, part of this legacy nuclear waste being

very old (first nuclear operations date back to the

1940s) and poorly characterized. Indeed, in many

older nuclear sites, waste of mixed contamination

levels are put together in several thousands of storage

containers, some with even unknown contents. It is

now time to clean up this waste stock and develop a

more sustainable solution to store them. Therefore, it

is of primary economic importance to put each waste

item in an adequate container. Low level waste in

particular must be placed in low-level storage

containers, rather than occupying extremely

expensive and resource intensive high-level storage

containers and facilities. This sorting process requires

opening thousands of legacy waste containers,

extracting their potentially very various contents

(pieces of fuel rod casing, contaminated tools and

rubble, irradiated suits, rubber gloves, etc.), and

sorting and segregating the most highly contaminated

objects. This process can only be performed using

remotely controlled robots due to the high radiation

levels of some waste material, and state-of-the-art

simple 6 DoF teleoperated robots are not a viable

solution therefore in the longterm. Indeed, being

equipped with simple bi-digital grippers, they are not

adapted to grasp all kinds of objects being present in

the containers. One of the aim of the ROMANS

project, along with mixed autonomy solutions

allowing to increase operators’ productivity, was to

develop more dexterous and versatile

telemanipulation means. As will be presented below,

both a new three fingers slave hand and a novel tri-

digital input device, object of this article, were

designed to answer this challenge.

Fortunately, despite there were relatively few

advancements in dexterous teleoperation in the

nuclear industry in the last decades, huge progress has

been obtained in the meantime in dexterous force

feedback robotics and VR haptics. The requirement

for anthropomorphic devices able to assist humans in

force demanding applications (e.g. military, civil

security, firemen, and even industry) or to restore lost

motor abilities (e.g. rehabilitation, disabled people

assistance), as well as the rise of Virtual Reality

applications, led to the development of numerous arm

and hand orthoses, exoskeletons and master devices

(Bogue, 2009) (Foumashi et al., 2011) (Heo et al.,

2012) (Gopura et al., 2016) (Perret and Van der

Poorten, 2018).

The lessons learnt from these works were taken

into account for the development of the tri-digital

hand master device presented in this article. Section 2

introduces its specifications, sections 3 and 4 present

its design and implementation, and section 5

concludes this paper.

2 SPECIFICATIONS

2.1 Teleoperation Set-up

2.1.1 Controlled Slave Robot

To cope with the aforementioned challenge, a novel

reconfigurable and underactuated robotic hand was

developed. As shown in Figure 1, this hand is

composed of three fingers with similar kinematics.

Each finger is composed of two phalanges and has

two DoFs in flexion. This mechanism is

underactuated, with only one actuator controlling the

two flexion DoFs. Coupling rods and springs allow to

passively adapt to the grasped objects’ geometry as

proposed in (Birglen and Gosselin, 2004) and

(Birglen et al., 2008). The distal phalanges are

covered with a soft polymeric envelope in order to

increase grasping robustness when an object is held

in hand, and a sharp end is provided in order to allow

for precision grasps. An additional abduction-

adduction DoF allows jointly reconfiguring the two

fingers that appear the closest in Figure 1. In extreme

configurations, these fingers point towards each

other, or towards the third and fixed finger, with

intermediate configurations favouring circular and

spherical grasps as shown in Figure 1.

Figure 1: CEA LIST’s three fingers slave hand.

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Such a three fingers design proves to be sufficient

for coarse gripping and manipulating the to-be-sorted

objects, yet it remains simple and rugged when

compared to five-fingers hands which would be too

fragile for such harsh environment. As shown in

Figure 2, it can generate power, intermediate and

precision grasp patterns (Feix et al., 2009), and it is

capable of grasping a large variety of objects similar

in size and weight to those encountered in nuclear

waste containers. It was mounted on a large capacity

slave robot (ABB IRB 2600, see Figure3).

Figure 2: Illustration of the possible grasps of the CEA

LIST’s three fingers slave hand.

Figure 3: Example set-up on the slave side.

It is worth noting that to efficiently perform

dexterous operations, the human being often makes

use of both hands. This configuration allows some

level of parallelization, and most importantly to

concurrently perform complementary operations (e.g.

holding a container with one hand and opening the lid

with the second hand, opening a container and

grasping an object inside it, grasping an object and

making an operation on it, etc.). This configuration

was used here, with one robot carrying a simple

gripper used for rough operations, and the second one

equipped with the three fingers gripper allowing to

perform dexterous operations.

2.1.2 Master Console

To allow for an intuitive and efficient control of a bi-

manual teleoperation set-up like the one presented

above, a master console equipped with two input

devices is required. A usual 6 DoF master arm (like

for example the Virtuose 6D TAO from Haption

shown on the left side of the figure below) is

sufficient to control the first robot. It is however not

the case for the control of the second arm equipped

with the three fingers gripper. As shown in Figure 4,

a more advanced solution is required, allowing fine

control of the dexterous gripper and force feedback

on both the palm and fingers. To do so, we developed

a novel dexterous hand master whose design drivers

are presented below.

Figure 4: Master slave setup equipped with bi-digital and

three fingers grippers.

2.2 Design Drivers of the Dexterous

Hand Master

The following criteria were considered for the

specification of our dexterous hand master:

1/ Dexterous manipulation: in order to control a

three fingers slave hand, the most logical solution is

to use a tri-digital hand master. A more general study

of manual interactions shows that this is also an

interesting compromise between manipulation

capabilities and complexity (Gonzalez et al., 2014).

As illustrated in Figure 5, the percentage of our daily

life rendered possible when using three, respectively

four or five fingertips (patterns M4, resp. M5 and M6)

is between 22.4 and 42.7%, resp. 28.7 and 54.5% and

33.3 and 61.7% depending on the type of activities

performed (rough manipulation, fine manipulation or

manual exploration of the environment). Using more

fingers naturally allows reaching higher scores in

theory. However, when considering the use of master

input devices to perform such actions, this is not

necessarily the case in practice. Indeed, increasing the

number of fingers the input device can track and

Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation

461

apply force feedback on requires a higher number of

DoFs, more links, joints and actuators. This added

complexity tends to reduce the range of motion of the

fingers, limit the force and stiffness available on each

finger, increase friction and inertia, and globally limit

the real efficiency. As an example, it appears that the

three fingers IHS10 glove (Gosselin, 2012) is more

efficient than the four fingers Rutgers Master II

(Bouzit et al., 2002) or the five fingers Cybergrasp

(Aiple et Schiele, 2013) when taking into account the

limitations of the fingers motion, the force capacity

and the stiffness along with the number of fingers.

Figure 5: Comparative study of the interaction efficiency of

some existing three, four and five fingers input devices

(adapted from (Gonzalez et al., 2014)).

As a consequence, we will make use here of a

three fingers device. As shown in Figure 4, this device

will be mounted at the tip of a Virtuose 6D and

attached to the palm, in order to allow for haptic

feedback on both the palm and fingertips. This

solution has the additional advantage of allowing to

compensate the weight of the glove, rendering its use

totally transparent for the user who has not to carry its

weight on the hand.

2/ Universal fit: as explained in (Gosselin et al.,

2020), two types of dexterous interfaces can be found

in the literature. Exoskeletons have links and joints

similar to the hand, and they are attached to every

phalanges on which they can independently apply

forces. They allow simulating both precision and

power grasps, at the price however of hard

mechanical constraints as their joints have to be

roughly aligned with the fingers’ ones. Hence, they

must be tuned to each user, which is not convenient

for a universal device that can be used by different

operators. On the contrary, fingertip interfaces are

fixed only on the palm and distal phalanges, and their

geometry is less restricted, making them easily usable

by different users. Their design is also much simpler.

These advantages led us to focus on fingertip devices.

To allow for natural interactions with the palm and

fingers, links and joints have to be positioned and

dimensioned so that the robot does not limit the

fingers’ movements.

3/ High transparency and force feedback quality:

haptic interfaces should be transparent in free space,

i.e. display a mechanical impedance that is

sufficiently low for the user to forget their presence.

They should also be able to provide high impedances

to simulate realistic contacts with stiff surfaces. This

contradiction usually leads to a compromise between

a high transparency in free space (i.e. low friction and

inertia) and realistic force feedback in contact (i.e.

high forces and stiffness). Here, we will exploit the

fact that the slave hand has only one actuator per

finger to control it with a glove having also only one

actuator per finger, allowing to greatly simplify the

design and favour a high transparency.

3 ELECTRO-MECHANICAL

DESIGN

3.1 Overview of the System

The tri-digital master glove is illustrated on Figure 6.

It is composed of a base plate fixed on the palm and

3 robots attached to the distal phalanx of the thumb,

index and middle finger, allowing to track and apply

forces on these fingers.

Figure 6: Overview of the tri-digital master glove.

This design was inspired by the dexterous

interface with hybrid haptic feedback for Virtual

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462

Reality applications presented in (Gosselin et al.,

2020). It was adapted to our requirements (3 fingers

with one DoF force feedback each) and improved

(novel sensors and simplified end-effectors).

The base is dimensioned so that the index and

middle robots’ and fingers’ abduction-adduction axes

are as close as possible (they are theoretically aligned

for an adult man corresponding to the 50

percentile

of the population).

As shown on Figure 7, each robot is composed of

6 links (7 for the thumb, owing the requirement to

make thumb opposition), allowing to move the

fingers freely in their entire workspace. Joint sensors

are integrated in the abduction-adduction, proximal

flexion and intermediate flexion axes, as well as on

the tilt axis of the thumb, allowing to compute the

end-effectors’ positions in space. Each robot is

provided with a single actuation unit enabling torque

feedback on the proximal flexion axis, hence force

feedback at the fingertips roughly normal to the finger

pulp. These actuators are equipped with high

resolution incremental encoders, ensuring high

quality position control.

Figure 7: Main components of the master glove (top and

bottom views).

3.2 Kinematics

The simplified kinematic model of the master glove

is illustrated in Figure 8. Link 1 allows abduction-

adduction while the other links allow finger flexion-

extension. The links 2, 3a, 3b and 4 form an inverted

parallelogram which allows the robot to remain close

to the finger in its entire workspace. A pivot joint is

added at the end of this structure to allow for the

fingertip to rotate freely when the operator closes the

hand.

Figure 8: Kinematic model of the master glove

), resp. R

=(O

) and

=(O

) are the base frames of the thumb,

index and middle fingers).

The kinematic structure of the index and middle

fingers’ robots is illustrated in Figure 9

(corresponding to links 1 to 5, an additional joint

being added between links 0 and 1 for the thumb).

Figure 9: Kinematic model of the robots. A frame

=(O

) is associated with each link, with its origin

positioned on the joint axis, q

is the rotation around joint i,

and l

(resp. l

, l

) designates the length of link i (resp. of

different parts of link i).

Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation

463

With these notations, the kinematic model of the

index and middle robots can be written as follows:

=trans(X

).trans(Y

).rot(Z

) (1)

=trans(X

).rot(Y

) (2)

=trans(X

).rot(Y

) (3)

=trans(X

).rot(Y

) (4)

=trans(Z

,-l

-l

).trans(X

).rot(Y

) (5)

Another transformation is required for the thumb.

Equation (1) is then replaced with the following

equations:

=trans(X

).trans(Y

trans(Z

).rot(Z

zb0

).rot(X

xb0

)

(6)

=trans(Z

).rot(Z

) (7)

To solve the equations of the inverted

parallelogram, we use the notations illustrated in

Figure 10 (Ngalé Haulin et al., 2001).

Figure 10: Inverted parallelogram.

Denoting δ the (fixed) angle between the different

parts of link 2 with length l

and l

, we first write:

α = q

+ δ

(8)

Then we use the sine formula in the triangle

, with O the point where links 3a and 3b cross,

the distance between O and P

or P

, and l

the

distance between O and P

or P

(here, the

dimensions were chosen so that l

= l

and l

= l

hence the links 2 and 4 move in symmetry).

sin(α)/l

= sin(β)/l

= sin(γ)/l

(9)

Owing that l

= l

, we can write:

-l

).sin(α) = l

.sin(β)

(10)

= l

.sin(α)/(sin(α)+sin(β))

(11)

Using equation (9), we get:

(sin(α)+sin(β))/l

= sin(γ)/l

sin(π-α-β)/l

= sin(α+β)/l

(sin(α).cos(β)+cos(α).sin(β))/l

(12)

By denoting t = tan(β/2), we get:

).(sin(α)+2t/(1+t

)) =

(sin(α).(1-t

)/(1+t

)+cos(α).2t/(1+t

))

(13)

Equation (13) can be rewritten as a second order

polynomial function of t as follows:

[(1+l

).sin(α)].t

+[2.(l

-cos(α))].t

+(l

-1).sin(α) = 0

(14)

Hence we finally get:

Δ = (l

-cos(α))

-((l

)

-1).sin

(α)

(15)

t = (cos(α)-l

√

∆) / (1+l

).sin(α)

(16)

β = 2.tan

-1

(t)

(17)

= π/2-β

(18)

These equations allow computing q

from q

(using equation (8) to compute α from q

). The

position of the fingertip can then be computed from

, q

and q

The design of the base plate, links dimensions and

joints’ range of motion were optimized in order to

allow free movements of the fingers over their entire

workspace. It is worth mentioning that, unlike gloves

and exoskeletons whose dimensions fit specific users,

fingertip devices can accommodate different hand

sizes. Our device can therefore easily be used by

various users.

3.3 Actuation Units

As shown in Figure 11, force feedback is obtained

with a Maxon REmax21 221028 DC motor (12V,

continuous torque 6.07mNm, peak torque 17.3mNm

(Maxon, 2016)) associated with a two stages reducer

combining:

• a gear reducer with Delrin gears of 0.5 modulus

allowing to obtain a reduction ratio of 5 (10 teeth

primary gear HPC ZG0.5-10 glued on the motor

axis, 50 teeth secondary gear HPC ZG0.5-50 as

output),

• a miniature cable capstan reducer making use of a

Berkley Whiplash Pro 0.42mm Dyneema cable

attached to pulleys of diameter 2.3mm and

25.9mm, hence a ratio of 11.26.

Such combination is highly transparent and

backdriveable, yet compact and light. It ensures that,

even if backlash occurs in the gear reducer, its

amplitude is downscaled at the output of the cable

capstan reducer, making if almost negligible in

practice. It allows generating a continuous joint

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464

Figure 11: Actuation units.

torque equal to 0.342Nm and a peak joint torque of

0.974Nm on the proximal flexion joint.

As shown in Figure 12, the joint torque generates

a force on the distal phalanx whose amplitude and

direction depend on the finger configuration. Force is

almost normal to the pulp when the finger is straight.

The distance between the actuated axis and the

fingertip being about 78.8mm in this configuration

for an adult man of medium size, continuous force is

equal to 4.3N and peak force to 12.4N.

Figure 12: Force feedback generated on fingertips.

3.4 Sensors

The motors are equipped with 512ppt magneto-

optical encoders (ref. Maxon MR 201940). A

resolution of 2048ppt is obtained after interpolation.

Hall effect sensors with a resolution of 1024ppt

are added at the joint level on the abduction-

adduction axis and on the proximal and intermediate

flexion axes (ref. sensors RLS RM08 VB 00 10 B02

L2 G00, ref. magnets RMM44 A3 A00).

One can notice that the measurement of the

proximal flexion is redundant. It is worth noting that

both sensors are however not used for the same

purposes.

• Owing the reduction ratio, the motor encoders

give a very precise information, and they are co-

located with the actuators. They are used for the

position and force control (master and slave

hands are linked using a bilateral position

coupling scheme). However, these sensors do not

allow to know the system configuration at start-

up (these sensors are incremental).

• The role of the joint sensors is precisely to give

an absolute joint angle value, avoiding the need

for initialization when the glove is turned on.

4 MANUFACTURING AND

INTEGRATION

4.1 Dexterous Hand Master Prototype

Figures 13 below shows the manufactured prototype

made of aluminium parts.

Figure 13: Internal view of the manufactured prototype of

tri-digital dexterous hand master.

As shown on Figure 14, a special care was given

to the actuators and sensors cables routing. Cables are

guided along the robots’ structure so that they cross

the joints’ axes. This way, they resist as less as

possible to links’ movements.

Figure 14: Dexterous hand master internal cabling.

Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation

465

A custom designed PCB, integrated in the base

plate, is used to connect the glove to its controller.

This PCB is in charge of both powering the sensors

and actuators and of conditioning and filtering the

sensors’ signals. In order to favor modularity, each

finger is connected to this PCB through a specific

connector on the robots’ side, and three connectors

are used on the controller side, respectively in charge

of the actuators power supply, motors’ encoders and

joint sensors.

As shown on Figure 15, this PCB is protected by

a thin plastic sheet, and the base is attached to a mitten

through a custom 3D printed part. This way, the glove

can be easily put on or taken off.

Figure 15: Fully integrated dexterous master glove.

4.2 Controller

The haptic master glove is controlled using an

Ethercat controller illustrated in Figure 16. Three

Maxon EPOS4 Compact 24/1.5 modules are used for

controlling the actuators, while a Beckhoff EK1828

Ethercat Coupler connected to two Beckhoff EL 3068

analog input modules with 8 channels each (0-10V,

12 bits) is used to connect the joint sensors. The

Figure 16: Dexterous hand master controller.

controller also integrates 12V (for the EPOS4

modules) and 24V (for the Beckhoff modules and the

glove PCB) power supplies. It is connected to the

glove through a SUBD 50 connector and to the robot

network through an Ethernet socket.

4.3 Master Glove-Slave Hand Coupling

To validate its ability to remotely control a dexterous

robot hand, our tri-digital hand master was coupled to

the three fingers robot hand presented in section 2.1.1

using the TAO framework (Geffard et al., 2010;

Geffard et al., 2012). TAO is a teleoperation

middleware allowing high-speed synchronization

between several real or virtual mechanisms (e.g.

master arms, slave arms, dynamic simulation engine).

It can control several robots synchronously, allowing

master-slave bilateral position coupling with force

feedback (control laws can be implemented either in

joint space or in Cartesian space). First tests consisted

in verifying that the slave hand can be controlled by

Figure 17: Dexterous teleoperation with force feedback

using the tri-digital hand master.

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466

moving the master glove, and reversely that the

master hand reproduces the slave hand’s motions.

Finally, the master glove was used to remotely grasp

various object with force feedback (see Figure 17).

4.4 Bi-manual Teleoperation

Once validated, the master hand glove was mounted

on a Haption Virtuose 6D master arm, in order to

allow controlling both a slave robot and the slave

hand. It was further associated with a second master

slave system as specified in section 2.1.2.

Figure 18: Bi-manual dexterous teleoperation.

First evaluations were essentially functional. We

tested the ability of the operator to grasp and

manipulate several types of objects similar to the waste

found in nuclear containers (e.g. piece of cloth, rigid

objects, cables, etc.). As shown in Figure 18 and Figure

19, these operations were successful. It was even

possible to pass objects from one robot to the other.

Further details on the coupling schemes and

qualitative and quantitative evaluations will be given

in a coming paper.

5 CONCLUSIONS AND

PERSPECTIVES

This paper presents the specifications and design of a

novel tri-digital dexterous master glove developed for

the sorting and segregation of nuclear waste. This

master glove is composed of a base plate fixed on the

palm and three robots allowing tracking and applying

force feedback on the thumb, index and middle

fingertips. Thanks to its optimized design, it can span

the entire workspace of the fingers, and its high-

performance actuation allows for a good quality force

feedback. After validating that it can be used to

control a three fingers slave hand with force feedback,

it was successfully integrated in a bi-manual

dexterous teleoperation set-up, allowing to grasp and

Figure 19: Grasping various objects in teleoperation.

manipulate various kinds of objects. Further details

on the coupling schemes and evaluations will be

given in a coming paper. Future work should be

dedicated to a more precise experimental

characterization of the device performances.

ACKNOWLEDGEMENTS

This research was partly supported by the Horizon

2020 RoMaNS project (Robotic Manipulation for

Nuclear Sort and Segregation, #645582) funded by

the European Commission.

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