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Exoskeleton master controller with force-reflecting telepresenceA thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.
Document ID
19930002782
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Burke, James B. (Odetics, Inc. Anaheim, CA, United States)
Bartholet, Stephen J. (Odetics, Inc. Anaheim, CA, United States)
Nelson, David K. (Aerospace Medical Research Labs. Wright-Patterson AFB, OH., United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1992
Publication Information
Publication: NASA. Lyndon B. Johnson Space Center, Fifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), Volume 1
Subject Category
Mechanical Engineering
Accession Number
93N11970
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

IDRelationTitle19930002733Collected WorksFifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), volume 1
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