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[054] Citation: B. Hannaford,
'Kinesthetic Feedback Techniques in Teleoperated Systems ,'
In "Advances in Control and Dynamic Systems", pp. 1-32, C. Leondes, Ed., Academic Press, San Diego, 1991.
Abstract
Teleoperation, the ability to perform physical manipulations of
objects from a distant control point, is the newest "tele" technology
(coming after telegraphy, telephony, and television). Teleoperation
was first reduced to practice by Goertz in the late 1940's. Even at
that time it was recognized that controlling the "slave" (remote) robot
to track the position and orientation of a "master" manipulator held in
the operator's hand was insufficient to effectively perform remote
tasks. An essential feature of useful systems was the feedback* of
force information to the operator arising from the interaction between
the slave and its environment. The essential quality for effective
remote manipulation is the replication of both force and incremental
motion at the mast and slave end effectors. A feedback system
implementing this behavior is said to be "Kinesthetic." Kinesthesia is
defined as: "The sensation of movement or strain in muscles, tendons,
and joints."
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Updated: Tue Jul 15 23:54:48 2008
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