Force Reflecting Exoskeleton (FREFLEX) Workspace Mapping.

Abstract

Determining a robot's reachable volume is important both for operator safety and for ease in the design and specification of experiments. This was the main focus in establishing the workspace for the Force REFLecting EXoskeleton (FREFLEX). Cartesian position data are collected by maneuvering the FREFLEX pistol grip manually. A program written in C first collates these coordinates into 'slices' of data. Then, a second algorithm determines the outer boundary of each slice. Stacking the adjusted data slices together provides a clear definition of the maximum FREFLEX boundaries. Additional graphical manipulation through workspace rotation enhances both the view and worker understanding of the FREFLEX work area.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1995
Accession Number
ADA313948

Entities

People

  • Barry O. Hill
  • David K. Nelson

Organizations

  • Armstrong Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Human Systems

DTIC Thesaurus Topics

  • Air Force
  • Air Force Facilities
  • Algorithms
  • Boundaries
  • Classification
  • Computers
  • Data Sets
  • Exoskeleton
  • Experimental Design
  • Government Procurement
  • Governments
  • Information Operations
  • Mathematics
  • Personal Computers
  • Rotation
  • Specifications
  • Technical Information Centers

Readers

  • Graph Algorithms and Convex Optimization.
  • Instructional Design and Training Evaluation.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy