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Experimental results with a six-degree-of-freedom force-reflecting hand controllerControl experiments performed using an isotonic joystick connected to a six degree-of-freedom manipulator equipped with a six dimensional force-torque sensor at the base of the manipulator end effector are described. The preliminary control experiments were aimed at the investigation of the human operators' ability to command and control forces in different directions by varying the information conditions and the values of the feedforward and feedback command gains in the bilateral control loop. The main conclusions are: (1) a quantified graphic display of force-torque information can considerably enhance the operator's ability to perform a quantitatively sharp force-torque control, and (2) there seems to be a task dependent optimal combination of the feedforward and feedback command gain values which provide a dynamically smooth and stable bilateral control performance.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Bejczy, A. K.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Handlykken, M.
(Technical Univ. of Norway Trondheim, United States)
Date Acquired
August 10, 2013
Publication Date
October 15, 1981
Publication Information
Publication: Proc. of the 17th Ann. Conf. on Manual Control
Subject Category
Man/System Technology And Life Support
Accession Number
Funding Number(s)
Distribution Limits
Work of the US Gov. Public Use Permitted.
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