Chapter
Apr 26, 2012
Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots
Authors: C. Mavroidis [email protected], C. Pfeiffer [email protected], J. Lennon, A. Paljic, J. Celestino, and Y. Bar-Cohen [email protected]Author Affiliations
Publication: Robotics 2000
Abstract
In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. The proposed haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The novel device that is presented here employs Electro-rheological Fluids (ERF), which are electroactive polymers that change their viscosity when electrically stimulated.
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© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
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ASCE Technical Topics:
- Aerospace engineering
- Automation and robotics
- Business management
- Construction engineering
- Construction methods
- Drilling
- Engineering fundamentals
- Human and behavioral factors
- Infrastructure
- Practice and Profession
- Public administration
- Public health and safety
- Safety
- Space exploration
- Stiffening
- Structural behavior
- Structural engineering
- Systems engineering
- Traffic engineering
- Transportation engineering
Authors
Affiliations
Dept. of Mech. & Aero. Eng., Rutgers University, 98 Brett Rd., Piscataway, NJ 08854-8058. E-mail: [email protected]
Dept. of Mech. & Aero. Eng., Rutgers University, 98 Brett Rd., Piscataway, NJ 08854-8058. E-mail: [email protected]
J. Lennon
Dept. of Mech. & Aero. Eng., Rutgers University, 98 Brett Rd., Piscataway, NJ 08854-8058.
A. Paljic
Dept. of Mech. & Aero. Eng., Rutgers University, 98 Brett Rd., Piscataway, NJ 08854-8058.
J. Celestino
Dept. of Mech. & Aero. Eng., Rutgers University, 98 Brett Rd., Piscataway, NJ 08854-8058.
Jet Propulsion Laboratory, Caltech, 4800 Oak Grove Dr., Pasadena, CA 91109-8099. E-mail: [email protected]
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