Universal Telerobotic-Master Device with Advanced Feedback

70616 Alternatives for teleoperator master devices, needed for the clean-up of DOE facilities, are limited. Most are manipulator specific, and many do not provide force feedback to the user, which significantly reduces effectiveness in unstructured tasks. Those that do provide 6-axis force control tend to be fatiguing and cumbersome, especially in the force-reflecting mode, and none has provisions for controlling multi-fingered hands attached to the slave manipulator. This project will develop a telerobotic master device with full 6-axis force-reflection, touch sensing, and provision for controlling multi-fingered slave hands. This device will be lightweight, portable, comfortable, intuitive to operate, and universal to DOE slave manipulators. Phase I will determine initial specifications; develop a conceptual design; perform engineering analysis and experimental validation; and finish with a feasibility evaluation, refined specifications, and a recommended development plan for Phase II and beyond. Commercial Applications and Other Benefits as described by the awardee: The force-reflecting master controller would meet each of DOE¿s requirements for teleoperation. There also should be an immediate demand for such high-quality haptic interaction in medical surgery and rehabilitation.