HAND EXOSKELETON HAPTIC DISPLAY

The proposed innovation is the development of a sensory feedback Hand Exoskeleton Haptic Display (HEHD). The objectives of the Phase I program are to study the utility of different methods of sensory display for controlling robot hands, and to develop a prototype of an HEHD that incorporates multiple modes of feedback including force feedback. EXOS has developed several prototype exoskeleton display and sensing devices including: 1) a prototype of a force reflecting exoskeleton master which reflects forces to the index finger, 2) TouchMaster which uses vibration to indicate fingertip contacts in a virtual display, and 3) the Dexterous HandMaster which uses an exoskeleton to measure joint angles. By building on our previous work in comfortable attachment, human perception, and force reflection, we will be able to complete the five primary objectives: Development of a task performance specification, Determining the sensing methods employed in performing the tasks, Development novel feedback methods, and Construction and verification of a prototype HEHD. This will result in the preliminary design specification for a complete HEHD and the delivery of a prototype HEHD which demonstrates the feasibility of the concept.