Accession Number : ADA317029

Title :   Human Sensory Feedback Lab Testbed: MBAssociates Exoskeleton/Merlin Robot Interface.

Descriptive Note : Interim rept. Mar 90-Jun 92,

Corporate Author : SYSTEMS RESEARCH LABS INC DAYTON OH

Personal Author(s) : Crabill, Monty L. ; Mosher, Todd W.

PDF Url : ADA317029

Report Date : JUN 1993

Pagination or Media Count : 219

Abstract : This report describes the MBAssociates Exoskeleton/Merlin Robot Interface used in th Human Sensory Feedback Lab Testbed for studies of human performance in coarse positioning tasks. The dual-armed, seven-degree-of-freedom (DOF) exoskeleton, worn by an operator, serves as a master device to control the end-effector position/orientation of a six-DOF Merlin slave robot. Kinematic position transformation matrices are detailed for both master and slave devices, as is the approach used for operator control of a six-DOF robot using a seven-DOF exoskeleton. The use of a desktop 386-33MHz type personal computer as a central system controller, user interface, and software development platform is described.

Descriptors :   *ROBOTS, *MAN MACHINE SYSTEMS, *OPERATORS(PERSONNEL), *EXOSKELETON, COMPUTER PROGRAMS, CONTROL, PERFORMANCE(HUMAN), INTERFACES, PLATFORMS.

Subject Categories : Anatomy and Physiology
      Cybernetics
      Human Factors Engineering & Man Machine System

Distribution Statement : APPROVED FOR PUBLIC RELEASE