Developments in Tele-presence 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 work will report on the operator inpufffeedback and robot sensorykontrol 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 0.75kg. This provides a user friendly system that can be used for extended periods without excessive strain. Exoskeletons and Input Devices.A number of body, leg, arm and hand exoskeletons have been designed and tested, with the aim of providing some or all of the tactileiforce feedback data outlined above. 567 0-8186-7108-4/95 $4.00 0 1995 IEEE
Manipulators in one form or another have been in existence for many hundreds of years with the design (ranging from simple hooks or two-jaw systems to complex multi-articulated grippers) usually motivated by the particular class of task. When the problem domain includes a varied range of objects, one approach is to emulate those attributes of the human hand which make it such a versatile end-effector. This work considers the design of a dexterous (3-fingered 1-thumb) hand driven by newly developed high power/ weight performance pneumatic muscle actuators (PMA). Although the manipulator can be used in conventional robotic applications the primary aim is for a high-performance tele-presence system with full manipulator input and tactile feedback. The robot manipulator closely replicates the skeletal layout of the human hand, making controlfrom a gloved input device (developed at Salford) feasible, thereby substantially reducing the control difficulties associated with decterous devices and making widevpread low cost use of flexible manipulative devices possible.
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