This project addresses the control of robotic hands in space applications for remote performance of highly dexterous tasks such as EVA or remote exploration. The objectives are to establish the feasibility of developing a master glove controller that provides both force and fingertip tactile feedback and to determine the extent to which tactile feedback improves dexterous task performance. The work includes development of an electrically-driven, three-fingered, exoskeletal glove controller; assembly of drivers and signal processors for fingertip-shaped tactile stimulator and sensor arrays, each containing 44 elements; and evaluation of the performance of the master-slave system while operating in a bilateral force and tactile control mode. The prototype glove controller will serve to guide the development of an advanced device in Phase II to include additional fingers, smaller glove size and weight, faster actuators, and higher density tactile stimulator arrays placed at the fingertips and other areas of the glove.
Potential Commercial Applications: Applications would be in high-value, remote work such as manufacture of semiconductors or pharmaceuticals, radioactive hot-cell operations, hazardous waste processing, and undersea operations.STATUS: Project Proceded to Phase II
