Teleoperaton setup for wire-cutting application in the field

This paper describes the development of a teleoperation system. The setup consists a single master controller and slave device. The setup will be used to conduct wire-cutting experiments with volunteers to determine the quality of the control and ease-of-use of the system. The system includes a single Phantom Omni by SensAble, a haptic input device which serves as the master controller. The slave device is a custom built 5 degree-of-freedom serial manipulator by Schunk. They are interfaced together via a computer running a Windows operating system. The user is asked to move the master controller and direct the slave to cut various wires in the workspace under a given set of constraints.