Bin An

EXOS research on force-reflecting controllers

EXOS has developed two state of the art prototype master controllers for controlling robot hands and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One such device is a two degree-of-freedom Sensing and Force Reflecting Exoskeleton (SAFiRE) worn on the operators hand. The device measures the movement of the index finger and reflects the interaction forces between the slave robot and the environment to the human finger. The second device is a position sensing Exoskeleton ArmMaster (EAM) worn by a human operator. The device simultaneously tracks the motions of the operators three DOF shoulder and two DOF elbow. Both of these devices are currently used to control robots at NASA. We are currently developing a full fingered SAFiRE and a position sensing and force reflecting EAM under two second phase SBIR grants with NASA. This paper will include discussions of: (1) the design of the current prototypes, (2) kinematics of the EAM and force control of the SAFiRE, (3) design issues that must be addressed in developing more advanced versions, and (4) our progress to date in addressing these issues.

EXOS research on the design of haptic interface and force reflective controller

EXOS had developed two state‐of‐the‐art prototype master controllers for controlling robot hand and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One of such devices is a two degree‐of‐freedom (DOF) sensory and force reflecting exoskeleton (SAFiRE) which is worn on the hand of a human operator. It measures the movement of the human finger and reflects the interaction forces between the slave robot hand and the environment back to the human finger. The second device is a position sensing Exoskeleton ArmMasterTM (EAM) that is worn on the human operator’s arm. This device simultaneously tracks the motions of the operator’s three DOF shoulder and two DOF elbow. Both of these devices are currently controlling robots at NASA. Currently, a five‐fingered SAFiRE and a force reflecting EAM are being developed under two phase II NASA SBIR grants. This paper will include discussion of: (1) the design of the current prototypes, (2) phase II project objectives, (3) human haptic int...