Exoskeleton-based Telepresence

This project augments telemanipulation capabilities through the development and evaluation of a unique force-reflecting master-slave exoskeleton anthropomorphic arm-hand system, with the emphasis on the use of EVA-rated tools and on minimum training requirements. There is also strong interest for the backdriveable glove as a physical therapy aid to rehabilitate stroke patients paralytic hands.

The focus of this task involves the augmentation to telemanipulation capabilities through the development of human-equivalent dexterity of remotely operated hands, with emphasis on minimal training and use of human rated tools. The technical objective is to prototype a force-reflecting master-slave arm-hand system in exoskeleton form with a 7-DOF arm and 16-DOF four fingered hand. This includes integration with a visual telepresence system. The programmatic objective is to determine how far an exoskeleton alternative can perform EVA-glove rated manipulative activities without changing EVA tools or adding new ones to the existing repertoire.

Point of Contact:
Antal K. Bejczy
Mail Stop 198-219
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena CA 91109
818-354-4568
bejczy@telerobotics.jpl.nasa.gov

Telerobotics Program page

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Maintained by: Dave Lavery
Last updated: May 10, 1996