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Proceedings Paper

Magnetostrictive linear devices for force reflection in dexterous telemanipulation
Author(s): Owen D. Brimhall; Christopher J. Hasser
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Paper Abstract

Anthropomorphic exoskeletal systems with full-force feedback are desired for intuitive telemanipulation. Current dexterous force- reflecting hand masters are fundamentally limited by available force actuators. Multiple-degree-of-freedom dexterous exoskeletal systems are especially sensitive to mass, volume, force, velocity, and geometric constraints. This project discusses desired operational parameters and targets for ideal dexterous- force feedback actuation. New resistive and active actuators, using Terfenol-D magnetostrictive driven elements, are proposed. Simple resistive and active magnetostrictive concepts, prototypes, and devices are demonstrated and evaluated.

Paper Details

Date Published: 6 May 1994
PDF: 12 pages
Proc. SPIE 2190, Smart Structures and Materials 1994: Smart Structures and Intelligent Systems, (6 May 1994); doi: 10.1117/12.175211
Show Author Affiliations
Owen D. Brimhall, Technical Research Associates, Inc. (United States)
Christopher J. Hasser, Air Force Armstrong Lab. (United States)


Published in SPIE Proceedings Vol. 2190:
Smart Structures and Materials 1994: Smart Structures and Intelligent Systems
Nesbitt W. Hagood, Editor(s)

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