Anthropomorphic force-reflective master arm
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United States of America Patent
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Jul 8, 2014
Grant Date -
Aug 25, 2011
app pub date -
May 2, 2011
filing date -
Nov 4, 2008
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Abstract
The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
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