A new 6 degree of freedom universal Force Reflecting Hand Controller (FRHC) was designed for use as the man-machine interface in teleoperated and telerobotic flight systems. The features of this new design include highly intuitive operation, excellent kinesthetic feedback, high fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all 6 DOF, good back-drivability, and zero backlash. In addition, the new design has a much larger work envelope, smaller stowage volume, greater stiffness and responsiveness, and better overlap of the human operator's range of motion than do previous designs. The utility and basic operation of a new, flight prototype FRHC called the Model X is briefly discussed. The design heritage, general design goals, and design implementation of this advanced new generation of FRHCs are presented, followed by a discussion of basic features and the results of initial testing.


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    Titel :

    New Six-Degree-of-Freedom Force-Reflecting Hand Controller for Space Telerobotics


    Beteiligte:
    D. Mcaffee (Autor:in) / E. Snow (Autor:in) / W. Townsend (Autor:in) / L. Robinson (Autor:in) / J. Hanson (Autor:in)

    Erscheinungsdatum :

    1990


    Format / Umfang :

    15 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    A new six-degree-of-freedom force-reflecting hand controller for space telerobotics

    Mcaffee, Douglas / Snow, Edward / Townsend, William et al. | NTRS | 1990



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    Snow, Edward R. / Mcaffee, Douglas A. / Townsend, William T. | NTRS | 1991



    Hand Controllers for Telerobotics on International Space Station (ISS)

    Hegg, J. W. / Smith, M. P. / International Federation of Automatic Control | British Library Conference Proceedings | 1999