Thus, the controller can satisfy various tele-manipulation tasks requiring different degrees of adaptability. This controller can provide compliance and force sensing capability without the need for additional force sensors. The controller also possesses non-linear damping property and adapts to a wide range of loads without having to adjust the gain. Furthermore, the stiffness and damping characteristics of the controller are programmable. The controller has been implemented to control a PUMA 560 robot.
Patent application is in progress.
Northwestern is seeking commercial partners with the desire and resources to develop and commercialize this technology to its fullest commercial potential.