Accession Number:

ADA317029

Title:

Human Sensory Feedback Lab Testbed: MBAssociates Exoskeleton/Merlin Robot Interface.

Descriptive Note:

Interim rept. Mar 90-Jun 92,

Corporate Author:

SYSTEMS RESEARCH LABS INC DAYTON OH

Personal Author(s):

Report Date:

1993-06-01

Pagination or Media Count:

219.0

Abstract:

This report describes the MBAssociates ExoskeletonMerlin Robot Interface used in th Human Sensory Feedback Lab Testbed for studies of human performance in coarse positioning tasks. The dual-armed, seven-degree-of-freedom DOF exoskeleton, worn by an operator, serves as a master device to control the end-effector positionorientation of a six-DOF Merlin slave robot. Kinematic position transformation matrices are detailed for both master and slave devices, as is the approach used for operator control of a six-DOF robot using a seven-DOF exoskeleton. The use of a desktop 386-33MHz type personal computer as a central system controller, user interface, and software development platform is described.

Subject Categories:

  • Anatomy and Physiology
  • Cybernetics
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE