Archive for Август 7th, 1998

Kinesthetic Force/Moment Feedback Via Active Exoskeleton

Дата: Август 7th, 1998 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7082
  • Название документа: Kinesthetic Force/Moment Feedback Via Active Exoskeleton
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Robert L. Williams II, Mark A. Murphy, Debra North, Michael Krier, James Berlin
  • Правопреемник/учебное заведение: Department of Mechanical Engineering Ohio University, Human Sensory Feedback Lab, AFRL/HECP Wright-Patterson AFB, Ohio
  • Дата публикации документа: 1998-08-07
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Presented at the 1998 IMAGE Conference Scottsdale, Arizona,
  • Вложения: Да
  • Аналитик: Глаголева Елена

Theoretical control algorithms are developed and an experimental system is described for 6-dof kinesthetic force/moment feedback to a human operator from a remote system. The remote system is a common six-axis slave manipulator with a force/torque sensor, while the haptic interface is a unique, cable-driven, seven-axis, force/moment-reflecting exoskeleton. The exoskeleton is used for input when motion commands are sent to the robot and for output when force/moment wrenches of contact are reflected to the human operator. This system exists at Wright-Patterson AFB. The same techniques are applicable to a virtual environment with physics models and general haptic interfaces.

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