TELEPRESENT MASTER/SLAVE TOOLS WITH FORCE AND TACTILE FEEDBACK

Award Information
Agency:
Department of Defense
Branch
Air Force
Amount:
$68,866.00
Award Year:
1990
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Agency Tracking Number:
12283
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
Begej Corp
5 Claret Ash Rd, Littleton, CO, 80127
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Stefan Begej
(303) 973-5042
Business Contact:
() -
Research Institution:
n/a
Abstract
THE OVERALL OBJECTIVE OF THE PHASE I WORK SHALL BE TO DESIGN AND FABRICATE TELEPRESENT MASTER/SLAVE (M/S) TOOLS CAPABLE OF PROVIDING FORCE AND TACTILE FEEDBACK TO THE HAND OF A HUMAN OPERATOR. THIS WORK SHALL INCORPORATE THE EXTENSIVE PREVIOUS DEVELOPMENT ACTIVITIES AT BEGEJ CORPORATION IN THE AREAS OF TACTILE SENSORS AND TACTILE DISPLAYS. THE SCOPE OF THE PHASE I WORK INCLUDES: (1) DESIGN AND FABRICATION OF MINIATURE, TOOL-MOUNTED FORCE/TORQUE (F/T) SENSORS CAPABLE OF MEASURING SIX COMPONENTS OF FORCE; (2) FABRICATION OF A HIGH-DENSITY OPTICAL TACTILE SENSOR FOR THE SLAVE TOOL HANDLE; (3); FABRICATION OF A 128-ELEMENT TACTILE DISPLAY FOR THE MASTER TOOL HANDLE, AND; (4) PRELIMINARY EVALUATION OF THE MASTER/SLAVE TOOLS. FOLLOW-ON WORK DURING PHASE II WOULD CONCERN: (1) THE IMPLEMENTATION OF FORCE FEEDBACK TO THE MASTER TOOL HOLDER BY A DEDICATED 6-DOF ROBOT ARM CONTROLLED BY THE F/T SENSORS ON THE TOOLS; (2) PERFORMANCE OF A MORE COMPLETE EVALUATION OF THE TELEPRESENT M/S TOOL CONCEPT USING A MODIFIED MECHANICAL M/S MANIPULATOR AND A THREE-FINGERED, FULLY-TELEPRESENT GLOVE CONTROLLER WITH ASSOCIATED ROBOT HAND (CURRENTLY UNDER DEVELOPMENT); AND (3) DESIGN, DEVELOP, AND FABRICATE SECOND-GENERATION TELEPRESENT M/S TOOL COMPONENTS FOR DELIVERY TO THE SPONSOR.

* information listed above is at the time of submission.

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