Accession Number : ADA302942

Title :   Force Feedback for Anthropomorphic Teleoperated Mechanisms.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Chatfield, James A., II

PDF Url : ADA302942

Report Date : JUN 1995

Pagination or Media Count : 145

Abstract : The use of anthropomorphic teleoperated mechanisms has gained considerable attention as a means of performing tasks that require human-like control, but due to the nature of the environment, would be optimally accomplished without direct human contact in the particular workspace. These tasks include mine clearance, space operations, hazardous waste cleanup, and even surgery. In order to continue research into this method of remote, manual supervisory control, an anthropomorphic robot was monitored and tested with the results formulated into an operating manual intended to standardize system control. Further experimentation was conducted to examine various methods of implementing bilateral force feedback on the robot using a durable and cost effective system.

Descriptors :   *ROBOTS, *FEEDBACK, CONTROL, COST EFFECTIVENESS, HUMANS, THESES, MINE CLEARANCE, MANUAL OPERATION, HAZARDOUS WASTES, SURGERY, MANIPULATORS, SPACE MISSIONS, SOLENOIDS, FORCE(MECHANICS), SUPERVISION, TELEOPERATORS, ANTHROPOLOGY, SERVOMOTORS.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE