This paper describes the development of a system for dexterous telemanipu-lation and presents the results of tests involving simple manipulation tasks. The user wears an instrumen-ted glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in blockstacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimen-tal to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

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A robotic grasping manipulator includes a support base, a pair of fingers disposed on the base which extend forwardly a certain distance therefrom, and a two-degree of freedom elongate thumb. The thumb is pivotally attached at a proximal end to the base to extend generally forwardly therefrom, and terminates in a distal end tip which may be moved vertically and laterally with respect to the fingers to thereby enable holding objects between one or both fingers and the thumb. The fingers are moveable in a plane toward or away from each other, and include tip sections which are pivotable downwardly in a direction generally normal to the plane of movement of the fingers. A unique linkage apparatus intercouples the fingers with the base such that a non-pivotal, back-and-forth-moving piston rod can be used to move the fingers. The fingers contain gripping structure including rigid, pointed protuberances interleaved with flexible, blunt protuberances which are longer than the rigid protuberances. With the two-degree of freedom movement of the thumb and the movement of the fingers and their tip sections, a variety of different shaped objects may be grasped and held between the two fingers and thumb.

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