This thesis deals with the design and implementation of an intuitive, lightweight, compact, low-cost human interface for robot programming by human demonstration. The key feature of this robotic teaching device is its ability to allow the operator to transfer manual manipulation skills to a robot for the completion of contact tasks. The prototype incorporates 6 degree of freedom force and position sensing with tactile and grip position sensing. Total mass was a low 850 grams. Preliminary experimental results proved ease of use and very low error: 20.3 grf. average force error for a 1 Kgf. applied load, and 16.6 grf. average force error for a 3 Kgf. grip force.
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