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Anthropomorphic Telemanipulation System in Terminus Control Mode

  • B. M. Jau
  • M. A. Lewis
  • A. K. Bejczy
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Summary

The paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in 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 controlled by a high performance distributed controller. Control electronics and computing architecture were custom developed for this telemanipulaton system. 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.

Keywords

Gear Train Robot Hand Flex Cable Tool Manipulation Intelligent Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    Jau, B. M., “Feasibility Analysis of Performing EVA Tasks with Dexterous Robots”, JPL IOM Nr. 3474–94–007, Jet Propulsion Laboratory, Pasadena, CA, Feb. 25, 1994.Google Scholar
  2. [2]
    Bejczy, A. K. and Salisbury, J. K., “Kinesthetic Coupling between Operator and Remote Manipulator”, Proceedings of the Int. Computer Technology Conference, ASME Century 2, Vol. 1, San Francisco, CA, Aug. 1980, pp 197–211.Google Scholar
  3. [3]
    Jau, B. M., “Man-Equivalent Telepresence Through Four Fingered Human-Like Hand System”, IEEE Int. Conference on Robotics and Automation, Nice, France, May 12–14, 1992, pp 843–848.Google Scholar
  4. [4]
    Bejczy, A. K., Szakaly, Z. F., “Universal Computer Control System (UCCS) for Space Telerobots,” Proceedings of the IEEE Int. Conference on Robotics and Automation, Raleigh, NC, March 30-Apr. 3, 1987, pp 318–324.Google Scholar
  5. [5]
    Mendel, Jerry M., “Lessons in digital estimation theory”, Englewood Cliffs, N.J., Printice-Hall, 1987.Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • B. M. Jau
    • 1
  • M. A. Lewis
    • 1
  • A. K. Bejczy
    • 1
  1. 1.California Institute of TechnologyPasadenaUSA

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