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Dextrous telerobotics with force feedback — An overview part 2: control and implementation†

Published online by Cambridge University Press:  09 March 2009

Grigore Burdea  and
Jiachen Zhuang
Grigore Burdea
Affiliation:
Rutgers – The State University of New Jersey, Department of Electrical and Computer Engineering, P. O. Box 909, Piscataway, NJ 08855–0909 (USA)
Jiachen Zhuang
Affiliation:
Rutgers – The State University of New Jersey, Department of Electrical and Computer Engineering, P. O. Box 909, Piscataway, NJ 08855–0909 (USA)
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Summary

The control stategy for a dextrous masters is different from the general case of bilateral teleoperation since it models the human hand in much more detail. Such a model is discussed together with the selection of actuators used for force feedback control. Existing prototypes of dextrous masters with force feedback are then reviewed. These are the Servo Controlled Manipulator Device, the Portable Dextrous Force Feedback Master (P.D.M.F.F.), the Remote Handler, and the Advanced Multiple DOF Force Reflective Hand/Wrist Master.

Keywords

TeleroboticsForce feedbackControlImplementationDextrous masters.
Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 291 - 298
Copyright
Copyright © Cambridge University Press 1991

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