Force feedback anthropomorphic manipulator system

• Main Authors: Cua, Karen Jane, Frondoso, Adrian Marcel, Tan, Napthaneal, Teng, Marty Marx, Wong, Eddie
• Format: text
• Language: English
• Published: Animo Repository 2001
• Subjects: Robotics; Computer integrated manufacturing systems; Manipulators (Mechanism)
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/14494
• Institution: De La Salle University

The Force Feedback Anthropomorphic Manipulator basically consists of a sensor laced - glove connected to a feedback mechanism and a remote controlled anthropomorphic robotic manipulator. The glove is used as the input and feedback device for the operator. The remote-controlled robotic manipulator is used to reproduce the movement and duplicate the position of the glove. Any resistance to the movement of the remote manipulator will be transmitted to the glove via its feedback mechanism. The thesis aims to explore position sensing as the primary step in the development of the force feedback system. Position sensing works by comparing glove's finger position to that of the manipulator's finger position. The difference positions will be used to determine the feedback movement to the glove. It was found out that position sensing is limited in the sense that it does not proportionally transmit/convey the forces being experienced by the slave but only conveys the existence of an object being grasped by the slave manipulator. Position sensing must modified to transmit forces proportionally and be combined with tactile sensing in order to achieve a more realistic sense of touch.