Adaptive Control of Direct Drive Dexterous Robotic Hand with Bilateral Tactile Sensing

Abstract

The work addresses the problem of identifying objects using remote teleoperator. The application of the research is part of the development of demonstration technologies for the next generation of ROV's currently under development by the US Navy. Two related research issues are developed. The first deals with determining how a teleoperator would remotely probe an unidentified object, and attempt to determine what the object is based only of force feedback through the teleoperator mechanism. Haptic models are tested against experimental data. The second issue addressed is the design of a dexterous, direct drive and effector for use on a teleoperator system. Results concerning the mechanic design of a small scale mechanical hand are discussed.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1990
Accession Number
ADA233980

Entities

People

  • Morris R. Driels

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Human Systems
  • Sensors

DTIC Thesaurus Topics

  • Adaptive Systems
  • Boundaries
  • Computer Vision
  • Control Systems
  • Demographic Cohorts
  • Experimental Data
  • Feedback
  • Human Supervisory Control
  • Identification
  • Internal Friction
  • Mechanical Engineering
  • Object Recognition
  • Recognition
  • Remotely Piloted Vehicles
  • Robotics
  • Three Dimensional
  • Two Dimensional

Readers

  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • Autonomy
  • Autonomy - Autonomous System Control