Terminus controlled deep ocean manipulator

The Naval Undersea Center has designed and built eleven different manipulative devices having up to seven independent functions. The most sophisticated of these devices is the Remote Unmanned Work System manipulator which is an all-purpose, seven function master-slave manipulator for light work at depths to 20,000 feet. The master or controller for this manipulator is a 3/4 scale analog. The operator grasps the "hand" or terminus of this device and moves it to a desired location and orientation; the hand of the manipulator or slave foliows to a corresponding position. Forces encountered by the manipulator are simulated in the controller giving the operator a form of force feedback. This type of terminus controller possesses several distinct advantages over exoskeletal "strap-on" manipulator controllers.