Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1992-08-31
1994-10-11
Underwood, Donald W.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
414 4, B25J 1302
Patent
active
053541626
ABSTRACT:
An actuator system provides force feedback to a master support. A first, second and third digit support are connectable by a finger mount to the thumb, index and middle, and ring digits, respectively. First, second, third and fourth actuators comprising pneumatic cylinders extend between the first, second, third and fourth digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors are mounted to the pneumatic cylinders to provide electrical signals on the positioning of the fingers. The signals are forwarded by a stand alone feature to a host computer. The host computer computes the positioning of the finger and provides feedback through interface to the first, second and third actuators. Azimuthal mounts connect the first, second, third and fourth actuators to the palm support for increased movement of the digits.
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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.
Burdea Grigore C.
Gomez Daniel
Rutgers University
Underwood Donald W.
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