Multi-armed dexterous manipulator operation using glove/exoskeleton control and sensory feedback

摘要

Developments in telepresence have served to demonstrate the requirements for an advanced realistic user interface to remote and virtual entities. Most of these applications have concentrated on visual and audio feedback but recent research has highlighted the need for tactile input, control and feedback. This paper reports on the operator input/feedback robot sensory/control aspects of a dexterous manipulation system possessed of two arms (left and right) and two dexterous multi-jointed skeletal 'hands'. The operator input units developed include a light weight 7 degree of freedom arm exoskeleton combined with a cutaneous tactile feedback glove providing finger input control and tactile feedback of contact force, vibrational and thermal data in a system with an overall mass of less than 0.75 kg. This provides a user friendly system that can be used for extended periods without excessive strain.