Magnetostrictive linear devices for force reflection in dexterous telemanipulation

Owen D. Brimhall; Christopher J. Hasser

doi:10.1117/12.175211

6 May 1994 Magnetostrictive linear devices for force reflection in dexterous telemanipulation

Owen D. Brimhall, Christopher J. Hasser

Proceedings Volume 2190, Smart Structures and Materials 1994: Smart Structures and Intelligent Systems; (1994) https://doi.org/10.1117/12.175211
Event: 1994 North American Conference on Smart Structures and Materials, 1994, Orlando, FL, United States

Abstract

Anthropomorphic exoskeletal systems with full-force feedback are desired for intuitive telemanipulation. Current dexterous force- reflecting hand masters are fundamentally limited by available force actuators. Multiple-degree-of-freedom dexterous exoskeletal systems are especially sensitive to mass, volume, force, velocity, and geometric constraints. This project discusses desired operational parameters and targets for ideal dexterous- force feedback actuation. New resistive and active actuators, using Terfenol-D magnetostrictive driven elements, are proposed. Simple resistive and active magnetostrictive concepts, prototypes, and devices are demonstrated and evaluated.

Citation Download Citation

Owen D. Brimhall and Christopher J. Hasser "Magnetostrictive linear devices for force reflection in dexterous telemanipulation", Proc. SPIE 2190, Smart Structures and Materials 1994: Smart Structures and Intelligent Systems, (6 May 1994); https://doi.org/10.1117/12.175211

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