Human Sensory Feedback Lab Testbed: MBAssociates Exoskeleton/Merlin RobotInterface

摘要

This report describes the MBAssociates Exoskeleton/Merlin Robot Interface used inth Human Sensory Feedback Lab Testbed for studies of human performance in coarse positioning tasks. The dual-armed, seven-degree-of-freedom (DOF) exoskeleton, worn by an operator, serves as a master device to control the end-effector position/orientation of a six-DOF Merlin slave robot. Kinematic position transformation matrices are detailed for both master and slave devices, as is the approach used for operator control of a six-DOF robot using a seven-DOF exoskeleton. The use of a desktop 386-33MHz type personal computer as a central system controller, user interface, and software development platform is described.