In the performance of this contract, the state-of-the-art in Bilateral manipulator type man-augmentation systems was dramatically advanced. At the inception of this program, such systems typically handled a maximum of approximately 100 lbs., were large and heavy in relation to their payloads and were generally suited only for remote operation. By contrazt, the Hardiman I prototype, consisting of thirty powere. Joints, can lift itself plus loads equal to its own veight of 1500 lbs. It is packaged to be worn by a man and mimic his motions, maintaining the man’s dexterity and «feel» of the task being performed. In addition to the obvious mechanical design constraints of packaging such a system, it was necessary to achieve substantial technical breakthroughs in the design and analysis of high-load bilateral servosystems. The control technology advances achieved on this program have been instrumental in the development of new concepts in handling ordnance and general cargo for military ap-plications.

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