EXOS research on force-reflecting controllers

Brian S. Eberman; Bin An

doi:10.1117/12.142116

26 March 1993 EXOS research on force-reflecting controllers

Brian S. Eberman, Bin An

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142116
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

EXOS has developed two state of the art prototype master controllers for controlling robot hands and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One such device is a two degree-of-freedom Sensing and Force Reflecting Exoskeleton (SAFiRE) worn on the operator's hand. The device measures the movement of the index finger and reflects the interaction forces between the slave robot and the environment to the human finger. The second device is a position sensing Exoskeleton ArmMaster (EAM) worn by a human operator. The device simultaneously tracks the motions of the operator's three DOF shoulder and two DOF elbow. Both of these devices are currently used to control robots at NASA. We are currently developing a full fingered SAFiRE and a position sensing and force reflecting EAM under two second phase SBIR grants with NASA. This paper will include discussions of: (1) the design of the current prototypes, (2) kinematics of the EAM and force control of the SAFiRE, (3) design issues that must be addressed in developing more advanced versions, and (4) our progress to date in addressing these issues.

Citation Download Citation

Brian S. Eberman and Bin An "EXOS research on force-reflecting controllers", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142116

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