SENSOR-BASED, WHOLE-ARM MANIPULATION FOR ADAPTIVE GRASPING

Award Information

Agency: National Aeronautics and Space Administration	Branch: N/A	Award ID: 10474	Program Year/Program: 1990 / SBIR
Agency Tracking Number: 10474	Solicitation Year: N/A	Solicitation Topic Code: N/A	Solicitation Number: N/A

Small Business Information: Intelligent Automation Systems
300 Bent Street #200 Cambridge, MA 02141
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Woman-Owned: No

Minority-Owned: No

HUBZone-Owned: No

Phase 2: Fiscal Year: 1990

Title: SENSOR-BASED, WHOLE-ARM MANIPULATION FOR ADAPTIVE GRASPING

Agency: NASA

Contract: N/A

Award Amount: $497,000.00

Abstract:
THE PROPOSED PROJECT IS THE DESIGN OF A NOVEL MANIPULATION SYSTEM WHICH CAN CONTROL CONTACTS WITH OBJECTS ALONG ALL SURFACES OF ITS LINKS. THIS WHOLE-ARM MANIPULATION (WAM) SYSTEM IS CAPABLE OF GRASPING AND MANIPULATING A VARIED SET OF OBJECTS FAR LARGER THAN THE SET WHICH MAY BE MANIPULATED BY A CONVENTIONAL ARM USING AN ATTACHED GRIPPER. RECENTLY DEVELOPED TACTILE SENSING TECHNOLOGY AND JOINT-TORQUE SENSING WILL ALLOW THE WAM MANIPULATOR TO CONTROL MULTIPLE CONTACTS STABLY ANYWHERE ALONG ITS LINKS. THE OBJECTIVES FOR PHASE I ARE TO DETERMINE IMPORTANT SPACE AND TERRESTRIALBASED TASKS FOR AN AUTONOMOUS OR TELEROBOTIC HAND/ARM SYSTEM, ASSESS THE STATE OF THE ART IN WHOLE-ARM MANIPULATION AND TACTILE-SENSING TECHNOLOGY, PERFORM ANALYSES AND AN EXPERIMENT ON AN EXISTING WAM MANIPULATOR TODETERMINE THE ACCURACY OF INTEGRATING JOINT-TORQUE AND TACTILE SENSOR INFORMATION TO CONTROL A WAM ARM, AND PROPOSESPECIFICATIONS FOR A WAM SYSTEM DESIGN.

Principal Investigator:
Dr Steven J Gordon

Business Contact:

Small Business Information at Submission:

Intelligent Automation Systems
300 Bent St #200 Cambridge, MA 02141

EIN/Tax ID:

DUNS: N/A

Number of Employees: N/A

Woman-Owned: No

Minority-Owned: No

HUBZone-Owned: No