Applying Force Feedback Servomechanism Technology to Mobility Problems.

摘要

The report summarizes force feedback servomechanism research performed under the sponsorhip of TACOM,and the advanced Project Research Agency,with the purpose of defining and exploring possible new approaches in the design of mobility aids. The fundamentals of manipulative man-machine control technology are reviewed. Factors contributing to effective bilateral servo design are discussed. Human factors related to force feedback controls are described. The development of a quadruped walking mechanism employing bilateral force feedback controls and spatial correspondence between operator controls and machine appendages is discussed in detail. A series of experiments with the quadruped test bed is described. (Modified author abstract)