Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1991-02-26
1992-09-01
Huppert, Michael S.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
244234, B25J 1302
Patent
active
051435055
ABSTRACT:
An actuator system provides force feedback to a dextrous master glove. A first, second and third digit support are connectable by hook and loop fasteners to the thumb, index and middle digits of the glove, respectively. First, second and third actuators comprising pneumatic cylinders extend between the first, second and third digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors mounted on the back of the glove provide electrical signals that are interpreted by a glove interface and forwarded to a host computer. The host computer computes the movement of the glove and provides feedback through a digital-to-analog circuit, and an actuator interface to the first, second and third actuators. Sphere joints connect the first, second and third actuators to the palm support. Each sphere joint includes an air passageway that communicates with the pneumatic force feedback cylinders in the actuators. Cylindrical joints connect the first, second and third digit supports to the first, second and third actuators. The spherical joints permit rotation in a cone of about 60.degree. and provide for realistic three-dimensional manipulation in a compact environment.
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Paper presented at the "Symposium on Dynamics and Control of Biomechanical Systems":, Dec. 1989 at the ASME winter annual meeting by the inventor.
Information on DATAGLOVE.TM. Model 2 System from VPL Research, Inc., 656 Bair Island Road, Suite 304, Redwood City, CA 94063.
Burdea Grigore C.
Zhuang Jiachen
Huppert Michael S.
Rutgers University
Underwood Donald W.
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