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Title: NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design inputmore » requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the traditional linear scaling techniques used by other systems. Key Words: Teleoperation, Robotic Hand, Robotic Force Scaling« less
Authors:
Publication Date:
OSTI Identifier:
1054298
Report Number(s):
INL/CON-11-23691
DOE Contract Number:
DE-AC07-05ID14517
Resource Type:
Conference
Resource Relation:
Conference: Nuclear Plant Instrumentation and Controls & Human-Machine Interface Technologies,San Diego, CA,07/22/2012,07/26/2012
Research Org:
Idaho National Laboratory (INL)
Sponsoring Org:
USDOE
Country of Publication:
United States
Language:
English
Subject:
99 GENERAL AND MISCELLANEOUS Hand; nuclear; Robotics