Title :
Teleoperator hand design issues
Author :
Salisbury, Kenneth
Author_Institution :
MIT Artificial Intelligence Laboratory, Cambridge, MA
Abstract :
In this paper we will discuss some of the mechanical attributes of teleoperator systems and the ways in which their dexterity may be increased by the addition of articulated end effectors. We present a number of the design issues from a mechanism and control point of view, including kinematic properties, friction and transfer functions.
Keywords :
Artificial intelligence; End effectors; Grippers; Humans; Laboratories; Manipulators; Motion control; Robot sensing systems; Shape control; Teleoperators;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087394
