Force-Reflecting Anthropomorphic Hand Masters.
Abstract
A fully 'present' telerobotic or virtual reality (VR) hand interface would require perfect position, force, and tactile feedback to all of the operator's finger segments. A functional interface must meet a task-dependent subset of these requirements. Most interfaces have developed in the form of an exoskeleton that is worn on the hand. The state of the art in anthropomorphic force reflecting hand exoskeletons is characterized by a small number of independent efforts in government, academic, and commercial laboratories. Efforts are in widely varying stages of development, and have been slowed by the serious design limitations of this application, and by a dearth of suitable actuators. This report applies existing data on human sensing and biodynamic capabilities to generate hand master design criteria. Current efforts are reviewed for an assessment of the state of the art. Specific actuator technologies are evaluated for their potential, particularly emerging technologies in magnetostrictive and piezoelectric actuation. The report offers recommendations concerning design compromises and areas of future development. Appendices present calculations of maximum human finger joint torques, measurements of maximum human finger joint speeds, coverage of hand mechanics and anthropometry, photographs of hand masters, and a data sheet for each known force reflecting-hand master.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 01, 1995
- Accession Number
- ADA316017
Entities
People
- Christopher J. Hasser
Organizations
- Armstrong Laboratory