Force Feedback Control for Dextrous Robot Masters Using Shape Memory Metals

This project addresses the development of a force feedback control scheme for dexterous robot masters in telemanipulation systems. Robot telemanipulation may be viewed as the remote control of partially intelligent machines where continuous on line monitoring and control of a robot slave device is provided by a master under operator control. Such systems are designed to protect humans from potentially dangerous environments, i.e., radiation chambers, outer space or munitions dumps. The coupling between master and slave may be either mechanical or electrical. When, as in most modern systems, the linkage is electrical, performance degrades due to less natural control. Performance improvement is possible with a master which is more natural to control. A dexterous or multifingered replica of the human hand is such a system. However, current designs provide no force feedback. This research tests the use of Shape Memory Metals (SMM) actuators to bring force feedback to the operator fingers. It comprises several tasks including mathematical modeling and experimental testing of different types of SMM actuators, building a prototype dexterous master, designing the interface between the master and the control computer, integrating the master with the host computer, and integrating the master/host computer with the remote robot. This research advances engineering knowledge of dexterous force feedback and has numerous applications in space, military, energy, and medical sectors. It could improve efficiency of telemanipulation systems and expand their capabilities to address more complex tasks.