Dextrous telerobotics with force feedback — An overview part 2: control and implementation
- 1 July 1991
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 9 (3) , 291-298
- https://doi.org/10.1017/s0263574700006457
Abstract
SUMMARY: The control stategy for a dextrous masters is different from the general case of bilateral teleoperation since it models the human hand in much more detail. Such a model is discussed together with the selection of actuators used for force feedback control. Existing prototypes of dextrous masters with force feedback are then reviewed. These are the Servo Controlled Manipulator Device, the Portable Dextrous Force Feedback Master (P.D.M.F.F.), the Remote Handler, and the Advanced Multiple DOF Force Reflective Hand/Wrist Master.Keywords
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