Design of an Exoskeleton with Kinesthetic Feedback; Lessons Learned
Abstract
The Harry G. Armstrong Aerospace Medical Research Laboratory (AAMRL) initiated a project to design a teleoperator master controller which progresses towards the telepresence goal of intuitive operation. A study of past teleoperators shows that the human's ability to control a kinematically redundant slave robot is not fully used with existing devices: either the master system does not consider the human's solution to the redundant degree of freedom, or the human's kinesthetic sense is eliminated, or both. The AAMRL project designed a bilateral (force-reflecting) exoskeleton which would allow the operator to use both of these attributes during teleoperation. The design process was hindered by a lack of fundamental biodynamic data, which had to be synthesized from other studies. Areas of human performance research are identified to verify the biodynamic assumptions made during this project. Areas of manipulation research, using a kinematically redundant slave robot, are also described to quantify the expected improvements in telemanipulation resulting from the kinesthetic feedback provided by this exoskeleton.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1990
- Accession Number
- ADA452553
Entities
People
- Steven J. Remin
Organizations
- Armstrong Laboratory