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Anthropomorphic Telemanipulation System in Terminus Control Mode

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dc.contributor.author Jau, Bruno M. en_US
dc.contributor.author Lewis, M. Anthony en_US
dc.contributor.author Bejczy, Antal K. en_US
dc.date.accessioned 2004-10-05T05:20:39Z
dc.date.available 2004-10-05T05:20:39Z
dc.date.issued 1994-09-12 en_US
dc.identifier.citation Gdansk, Poland en_US
dc.identifier.clearanceno 94-1105 en_US
dc.identifier.uri http://hdl.handle.net/2014/33171
dc.description.abstract This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of "terminus control mode" refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots. en_US
dc.format.extent 506781 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.subject.other anthropomorphic kinesthetic telepresence terminus devices slave hand master glove exoskeleton force-sensing master glove EVA space tasks hand tool manipulations tool handling mechanical hand and forearm en_US
dc.title Anthropomorphic Telemanipulation System in Terminus Control Mode en_US


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