DocumentCode
1079523
Title
Resolved Motion Rate Control of Manipulators and Human Prostheses
Author
Whitney, Daniel E.
Author_Institution
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Mass. 02139
Volume
10
Issue
2
fYear
1969
fDate
6/1/1969 12:00:00 AM
Firstpage
47
Lastpage
53
Abstract
The kinematics of remote manipulators and human prostheses is analyzed for the purpose of deriving resolved motion rate control. That is, the operator is enabled to call for the desired hand motion directly along axes relevant to the task environment. The approach suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
Keywords
Decision making; Displays; Force control; Force feedback; Humans; Manipulators; Master-slave; Motion control; Prosthetics; Psychoacoustic models;
fLanguage
English
Journal_Title
Man-Machine Systems, IEEE Transactions on
Publisher
ieee
ISSN
0536-1540
Type
jour
DOI
10.1109/TMMS.1969.299896
Filename
4081862
Link To Document