Development of non-constrained master arm with tactile feedback device

An electric master-slave manipulator was generally used for remote control systems. Generally, the master arm has the same mechanism as the slave arm. Thus, the operator is constrained by the master arm. From such a point of view, a nonconstrained master arm with tactile feedback actuator was developed. The operator can move without constraint and feel the force or touch between slave and objects. If a tactile feedback actuator on a master arm is made from mechanical actuator, it will constrain the operator. Thus, a pneumatic balloon actuator was developed to return the touch between the slave arm and objects to the master arm. The system was experimentally produced and its performance tested and evaluated. It was found to be applicable to a nonconstrained master arm with tactile feedback actuator.<>