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

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.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1993
Accession Number
ADA317029

Entities

People

  • Monty L. Crabill
  • Todd W. Mosher

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Air Force
  • C Programming Language
  • Compilers
  • Computer Programming
  • Computer Programs
  • Computers
  • Contracts
  • Control Systems
  • Coordinate Systems
  • Electronics
  • Euler Angles
  • Exoskeleton
  • Feedback
  • Joints (Anatomy)
  • Orientation (Direction)
  • Robotics
  • Software Development

Readers

  • Robotics and Automation.

Technology Areas

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