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dextrous masters.

Robotica (1)

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Dextrous telerobotics with force feedback — An overview part 2: control and implementation †
Grigore Burdea, Jiachen Zhuang
Journal:

Robotica / Volume 9 / Issue 3 / July 1991

Published online by Cambridge University Press:

09 March 2009, pp. 291-298
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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.