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DUAL ROBOTIC ARM FORCE REFLECTION ALGORITHMS

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: N/A
Agency Tracking Number: 8925
Amount: $499,629.00
Phase: Phase II
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 1989
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
1515 S Manchester Ave
Anaheim, CA 92802
United States
DUNS: N/A
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Dr Tim Larson
 (714) 758-0300
Business Contact
Phone: () -
Research Institution
N/A
Abstract

IN THE CONTROL OF TELEPRESENCE ROBOTIC SYSTEMS, THE INTERACTION OF THE HUMAN OPERATOR WITH THE MECHANICAL COMPONENTS OF THE SYSTEM IS CRITICAL. IDEALLY, THE REMOTE OPERATOR SHOULD HAVE THE "SENSATION" THAT HE IS PRESENT AT THE WORK SITE CARRYING OUT THE SPECIFIED TASK. THIS PROPOSAL ADDRESSES THE ISSUE OF FORCE FEEDBACK BY PROPOSING TO PLACE THE OPERATOR'S ARM IN AN EXOSKELETON WITH SEVEN DOF THAT MIMIC THE DOF OF THE HUMAN ARM. THE EXOSKELETON CAN EXERT FORCES ON THE OPERATOR'S ARM BY APPLYING TORQUES TO THE JOINTS OF THE EXOSKELETON. DURING PHASE I, ODETICS WILL 1) DEVELOP AND VERIFY THE TRANSFORMATION ALGORITHMS TO REFLECT FORCES AND MOMENTS ACTING AT THE END-EFFECTORS OF TWO ROBOTIC MANIPULATORS BACK TO A HUMAN WEARING A DUAL-ARM EXOSKELETON SYSTEM; AND 2) ASSESS THE FEASIBILITY OF A HAND RECEPTACLE PROVIDING FORCE AND POSITION FEEDBACK TO THE OPERATOR FROM A DEXTEROUS END-EFFECTOR ON THE ROBOTIC ARM.

* Information listed above is at the time of submission. *

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