Universal Telerobotic-Master Device with Advanced Feedback

Award Information
Agency: Department of Energy
Branch: N/A
Contract: DE-FG02-02ER83371
Agency Tracking Number: 70616S02-I
Amount: $100,000.00
Phase: Phase I
Program: SBIR
Awards Year: 2002
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Barrett Technology, Inc.
139 Main Street, Cambridge, MA, 02142
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 William Townsend
 (617) 252-9000
 wt@barrett.com
Business Contact
 Burt Doo
Title: 70616
Phone: (617) 252-9000
Email: bd@barrett.com
Research Institution
N/A
Abstract
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.

* information listed above is at the time of submission.

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