Project Title:

Whole Arm and Hand-Finger Force Reflecting Masters

92-1-05.06-2567                                                   NAS09-18855
Whole Arm and Hand-Finger Force Reflecting
     Masters
Cybernet Systems Corporation
1919 Green Road, Suite B101
Ann Arbor, MI  48105
Charles Jacobus                                      (313-668-2567)

Abstract:

     Force reflection substantially improves teleoperated and
virtual reality systems. A force-reflecting hand and fingers
system will be developed, which will be coupled to a mature, six-
axis, force-reflecting master. This combined system provides ideal
control for a teleoperated robot and its attached multi-fingered
dexterous manipulator. The advantages of this approach and concept
over previous efforts in this area are: the dexterous manipulator
device will only be moderately complex, translating into low cost
and high reliability; the physical size and weight of the device
will be small; the approach will allow the device to accommodate a
wide range of operator wrist, palm, and finger sizes; and the
project will be highly focused because the effort needs only to
develop a dexterous master for the operator's hand and fingers.

Potential Commercial Application:

Potential Commercial Applications:  A force-reflecting arm and/or
hand master controller would be of great use in hazardous
environments (toxic chemicals, nuclear radiation, disease carrying
materials), space-based applications, construction, and the
medical profession (e.g., microsurgery, where large movements
could be scaled down to smaller movements while preserving the
haptic cues).

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