Portable dextrous force feedback master for robot telemanipulation
US5004391A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Aug 21, 1989 |
| Grant date | Apr 2, 1991 |
| Priority date | — |
| Expiry date | Aug 21, 2009 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J15/0009
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An electronic position sensor and a pneumatic microactuator form a portable robot master that may be operated by the fingers of a user's hand in the same, natural manner that the user would normally grasp an object to be finger manipulated. The master requires only two contact points to secure its ends to the user's fingers and to be manipulated by the user. The master includes a compact, hand-held unit that fits within the space defined by the user's palm and fingers, and functions as a position controller for a robot having a dextrous hand. The position sensor includes a linear variable differential transformer having an output signal that is proportional to the distance between the user's fingers, i.e. the two contact points, that are used to manipulate the master. A force feedback system, including the pneumatic micro-actuator, senses forces exerted by end effectors on the robot hand and causes a corresponding force to be exerted by the user.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.