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Proceedings Paper

EXOS research on force-reflecting controllers
Author(s): Brian S. Eberman; Bin An
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Paper 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.

Paper Details

Date Published: 26 March 1993
PDF: 11 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142116
Show Author Affiliations
Brian S. Eberman, Massachusetts Institute of Technology (United States)
Bin An, EXOS, Inc. (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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