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Universal Telerobotic-Master Device with Advanced Feedback

Award Information

Department of Energy
Award ID:
Program Year/Program:
2002 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Barrett Technology Inc
625 Mount Auburn Street Cambridge, MA -
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2002
Title: Universal Telerobotic-Master Device with Advanced Feedback
Agency: DOE
Contract: DE-FG02-02ER83371
Award Amount: $100,000.00


70616 Alternatives for teleoperator master devices, needed for the clean-up of DOE facilities, are limited. Most are manipulator specific, and many do not provide force feedback to the user, which significantly reduces effectiveness in unstructured tasks. Those that do provide 6-axis force control tend to be fatiguing and cumbersome, especially in the force-reflecting mode, and none has provisions for controlling multi-fingered hands attached to the slave manipulator. This project will develop a telerobotic master device with full 6-axis force-reflection, touch sensing, and provision for controlling multi-fingered slave hands. This device will be lightweight, portable, comfortable, intuitive to operate, and universal to DOE slave manipulators. Phase I will determine initial specifications; develop a conceptual design; perform engineering analysis and experimental validation; and finish with a feasibility evaluation, refined specifications, and a recommended development plan for Phase II and beyond. Commercial Applications and Other Benefits as described by the awardee: The force-reflecting master controller would meet each of DOE┬┐s requirements for teleoperation. There also should be an immediate demand for such high-quality haptic interaction in medical surgery and rehabilitation.

Principal Investigator:

William T. Townsend

Business Contact:

Burt Doo
Small Business Information at Submission:

Barrett Technology, Inc.
139 Main Street Cambridge, MA 02142

EIN/Tax ID: 043548106
Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No