Project Title:

Glove Controller with Force and Tactile Feedback for Dexterous Robotic Hands

05.04-5042
NAS9-18308
Glove Controller with Force and Tactile
	Feedback for Dexterous Robotic Hands
Begej Corporation
	5 Claret Ash Road
	Littleton, CO 80127
		Stefan Begej
(303-973-5042)

Abstract:

	This project addresses the control of robotic hands in space applications for remote
performance of highly dexterous tasks such as EVA or remote exploration. The objectives
are to establish the feasibility of developing a master glove controller that provides
both force and fingertip tactile feedback and to determine the extent to which tactile
feedback improves dexterous task performance. The work includes development of an
electrically-driven, three-fingered, exoskeletal glove controller; assembly of drivers
and signal processors for fingertip-shaped tactile stimulator and sensor arrays,
each containing 44 elements; and evaluation of the performance of the master-slave
system while operating in a bilateral force and tactile control mode. The prototype
glove controller will serve to guide the development of an advanced device in Phase
II to include additional fingers, smaller glove size and weight, faster actuators,
and higher density tactile stimulator arrays placed at the fingertips and other areas
of the glove.

Potential Commercial Application:

Potential Commercial Applications: Applications would be in high-value, remote work
such as manufacture of semiconductors or pharmaceuticals, radioactive hot-cell operations,
hazardous waste processing, and undersea operations.