Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1993-05-28
1995-09-05
Underwood, Donald W.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
901 28, 901 39, 901 21, 623 62, 294111, B25J 304
Patent
active
054474035
ABSTRACT:
An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a "teachglove" worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.
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"Mechanical Arm Gives Robots A Helping Hand," Machine Design, vol. 61, No. 1, Jan. 12, 1989, p. 16.
Charles D. Engler, Jr., "Design and Development of an Anthropomorphic Electro-mechanical Hand with Exoskeletal Control for Reproduction of Human Hand Dexterity," Lehigh University School of Industrial Engineering, Apr. 1989.
"Effect of Hand-Based Sensors on Manipulator Control Performance", Mechanism and Machine Theory, 1977, vol. 12, pp. 547-567.
Marchant Robert D.
Miller Guy M.
Underwood Donald W.
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