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.

Категория: Научные статьи | Нет комментариев »

Комментарии