Human Sensory Feedback Lab Testbed: MBAssociates Exoskeleton/Merlin Robot Interface.
Interim rept. Mar 90-Jun 92,
SYSTEMS RESEARCH LABS INC DAYTON OH
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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.
- Anatomy and Physiology
- Human Factors Engineering and Man Machine Systems