Adaptive control of direct drive dexterous robotic hand with bilateral tactile sensing
By: Morris R. Driels
Contributors: Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1990
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 34
Subjects: Remote detectors; Hands; Robotics; Teleoperators; Probes
Other titles: NPS-69-90-06.
Description: The work addresses the problem of identifying objects using remote teleoperator. The      application of the research is part of the development of demonstration technologies for the      next generation of ROV's currently under development by the US Navy. Two related      research issues are developed. The first deals with determining how a teleoperator would      remotely probe an unidentified object, and attempt to determine what the object is based      only of force feedback through the teleoperator mechanism. Haptic models are tested      against experimental data. The second issue addressed is the design of a dexterous, direct      drive and effector for use on a teleoperator system. Results concerning the mechanic design      of a small scale mechanical hand are discussed.
Notes: Title from cover.

"NPS-69-90-06."

"December 1990."

"Final report for period 9/20/89 - 9/30/90."

AD A233 980.

Includes bibliographical references (p. 26)

aq/aq cc:9116 01/19/99.