WO1995004959A1 - Dispositif de commande a main de pivotement virtuel, de deuxieme generation et a six degres de liberte - Google Patents

Dispositif de commande a main de pivotement virtuel, de deuxieme generation et a six degres de liberte Download PDF

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Publication number
WO1995004959A1
WO1995004959A1 PCT/US1993/007469 US9307469W WO9504959A1 WO 1995004959 A1 WO1995004959 A1 WO 1995004959A1 US 9307469 W US9307469 W US 9307469W WO 9504959 A1 WO9504959 A1 WO 9504959A1
Authority
WO
WIPO (PCT)
Prior art keywords
signals
processor
hand controller
pivot
produce
Prior art date
Application number
PCT/US1993/007469
Other languages
English (en)
Inventor
Robert E. Demers
Brian W. Schipper
William C. Marshall, Jr.
Original Assignee
Honeywell Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell Inc. filed Critical Honeywell Inc.
Priority to PCT/US1993/007469 priority Critical patent/WO1995004959A1/fr
Publication of WO1995004959A1 publication Critical patent/WO1995004959A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical

Definitions

  • the present invention relates to hand controllers and more particularly to hand operated devices for operating remote systems such as flight control systems in aircraft or spacecraft or for controlling robotics or land vehicle mechanism and to provide desired power assistance and "feel" to the control.
  • Hand controllers are well known in the art as, for example, the virtual pivot hand controller of U.S. Patent 4,962,448 to Joseph DeMaio et al., issued October 9, 1990, and assigned to the assignor of the present invention.
  • Six-degree-of-freedom mechanisms are also known in the art as, for example, the six-degree-of-freedom hand controller of Patent 4,914,976 issued April 10, 1990 to Charles E. Wyllie and the six-degree virtual pivot controller of patent application Serial No. 07/636,318 filed December 31, 1990 in the name of Jon M. Blomberg et al. assigned to the assignee of the present invention.
  • a Stewart platform has been modified to consist of a hand grip mounted on a platform which is connected at spaced locations to one end of three articulated legs while the other end of each leg is connected to be "actuated.”
  • the difficulty encountered in the modified Stewart platform is that if one attempted to use it for a realistic type hand controller such as shown in the Wyllie Patent, the forces felt by the operator as he moves the hand grip in various directions would not be realistic.
  • the other end of the articulated legs were mounted for actuation with a pair of scissor springs to increase the force feedback as the legs move, which is common in the art as described in the copending application of Israel Menahem, Serial No.
  • the present invention operates with a mechanical arrangement similar to the modified Stewart platform but connects each of the three articulated legs to a special motor/pickoff combination such as has been described in the copending patent applications of Robert E. DeMers, Serial No. 07/824,632 and 07/824,633 both filed January 23, 1992 and assigned to the Assignee of the present invention.
  • These motor/pickoff s operate to provide an output arm with the capability of rotating around two mutually orthogonal axes.
  • the three motor/pickoff s are such that no motor is required to move the mass of another motor. This accordingly operates to minimize the inertia of the system.
  • the hand grip is connected to a six-axis force/torque sensing device which produces signals indicative of forces and torques being applied in any of the six directions at the sensor location.
  • the processor modifies them to transform them into values which would have been sensed at a "virtual pivot" (e.g., wrist joint) or at any fixed point relative to the base plate other than the sensor mounting location.
  • These signals are a processor which operates to determine which of the motors should be activated and how much resistive force should be applied in order to move the hand grip with the proper "feel" in the direction indicated by the sensor.
  • Motor control systems in the processor drive the motors in the proper directions and feedback from various sensors in the system provides information to the processor which tells it how the position of the hand grip continue to differ from the desired position.
  • the reverse force which is applied may be customized to an individual's desires so that each operator will have the proper "feel” according to his particular liking. Accordingly the operator may have a customized hand grip, without altering the mechanical components, to able him to move the hand controller as he chooses with a "feel" that is best for his specific tastes.
  • Figure 1 shows a perspective and partly schematic view of the six-degree-of-freedom hand controller of the present invention.
  • Figure 2 shows a graph of the displacement of the hand controller and the corresponding resistive force or torque necessary to provide the realistic "feel.”
  • FIG. 3 shows a block diagram of the processor and its internal and external components.
  • Figure 4a, b and c shown the angles, and forces used in analyzing the kinematics and dynamics of the present invention.
  • Figure 5 shows the geometry of one of the articulated legs of the present invention.
  • a hand grip 10 is shown mounted on a force/torque sensor 12 which is mounted on a more or less triangular plate 14.
  • Force/torque sensor 12 may be of the type sold by Assurance Technologies, Inc. as the ATI F/T Sensor and operates to produce a plurality of output signals on an output identified by reference numeral 16 whenever any forces and torques are applied to the hand grip in any of the six directions shown by arrows 20, 21, 22, 23, 24 and 25.
  • Arrow 20 represents yaw motion about an axis shown as dash-dot line 27
  • arrow 21 represents roll motion about an axis shown as dash-dot line 28
  • arrow 22 represents pitch motion about an axis shown as dash-dot line 29
  • arrow 23 represents forward/backward motion along axis 28
  • arrow 24 represents right/left motion along axis 29
  • arrow 25 represents up/down motion along axis 27.
  • the signals indicative of the forces and torques applied by the operator in one or more of these directions are presented by output 16 to a processor 30 which determines from them which directions the operator desires the hand grip 10 to move.
  • Triangular platform 14 forms one part of a Stewart platform the rest of which comprises three, articulated legs having upper leg portions 32, 33 and 34, respectively, connected by rod end bearing connections 35, 36 and 37, respectively, to the corners of the triangular plate 14.
  • Upper leg portions 32, 33 and 34 are pivoted at connections 40, 41 and 42 respectively to lower leg portions 45, 46 and 47 which extend downwardly at a angle from upper leg portions 32, 33 and 34 respectively and are connected to a base plate 49.
  • Lower leg portion 45 is shown connected to a first coupling 51 which is in turn connected to two motor/pickoffs 53 and 54 each of which is capable of sensing the position of and driving the lower leg portion 45 about one of two mutually orthogonal axes.
  • a position sensing device capable of producing an output signal indicative of the angular rotation of lower leg portion 45 about one of the two mutually orthogonal axes.
  • Motor/pickoff 53 has an output shown by a line with reference numeral 57 which leads to the processor 30 to provide positional information and processor 30 is shown having an output 59 which leads to the input of motor/pickoff 53 so as to cause the motor to drive in a prescribed fashion as directed by the processor 30.
  • Processor 30 also has a program input 60 which is used to characterize the motor driving in accordance with the particular operator's "feel" requirements. Similarly the position sensing device within motor/pickoff 54 operates to produce an output signal indicative of the rotation of lower arm portion 45 about the other of the two mutually orthogonal axes and this signal is presented on an output shown by reference numeral 61 which leads to the processor 30. Processor 30 has an output shown by a line with reference numeral 63 connected to the motor/pickoff 54 so as to cause the motor in a prescribed fashion and in accordance with the program 60.
  • lower leg portion 46 is connected to a coupling 62 which is connected to two motor/pickoffs 63 and 64 each of which is capable of sensing the position of and driving the lower leg portion 46 about one of two mutually orthogonal axes.
  • motor/pickoffs 63 and 64 there is contained a position sensing device capable of producing an output signal indicative of the angular rotation of the lower leg portion 46 about one of the two mutually orthogonal axes.
  • Motor/pickoff 63 has an output shown by a line with reference numeral 65 connected to processor 30.
  • Processor 30 has an output shown by a line with reference numeral 67 which is connected to the motor portion of motor/pickoff 63 and operates to drive shaft 46 by the desired amount along the first of the mutually orthogonal directions as directed by program input 60.
  • Motor/pickoff 64 has an output shown by a line with reference numeral 73 which leads to the processor 30 to provide a signal indicative of the motion of arm 46 about the other of the two mutually orthogonal axes about which arm
  • Microprocessor 30 has an output shown, by a line with reference numeral 75 connected to the motor/pickoff 64 to drive lower leg portion 46 about the other of the two mutually orthogonal axes as directed by program input 60.
  • lower leg portion 47 is connected in similar fashion to a third coupling
  • Motor/pickoff 83 which is connected to two motor/pickoffs 83 and 84 to cause motion of arm 47 about two mutually orthogonal axes.
  • Motor/pickoff 83 has an output shown by a line with reference numeral 85 which leads to the processor 30.
  • Processor 30 is shown producing an output along an output shown by reference numeral 87 to motor/pickoff 83 and operable to drive the arm
  • Motor/pickoff 84 has as an output shown by a line with reference numeral 93 which leads to the processor 30 and is indicative of the motion of arm 47 about the other of the two mutually orthogonal axes about which arm 47 moves.
  • Processor 30 is also shown producing an output signal on a line shown by reference numeral 95 to motor/pickoff 84 operable to drive lower arm 47 about the other of the two mutually orthogonal axes as directed by program input 60.
  • each of the three articulated arms has an additional pickoff 97, 98 and 99, respectively, connected at the pivot joints between the upper leg portions 32, 33 and 34 and the lower leg portions 45, 46 and 47 and these pickoffs produce outputs along lines shown by references numerals 100, 101 and 102, respectively, to the processor 30 in order to give processor 30 additional information about the movement of the hand grip 10 and platform 14 with respect to the base plate 49.
  • each motor 53, 54, 63, 64, 83 and 84 includes a tachometer which produces a signal indicative of the motor's speed and these signals are also presented to the processor but, for simplicity, have not been shown in Figure 1 but will be described in connection with Figure 3.
  • the processor 30 is programmed at input 60 to determine the desired motion of hand grip 10 in each of the six desired axes to drive the motors in the motor/pickoff combinations accordingly.
  • the motion of hand grip 10 is not, however, frictionless since it is desired to provide the hand grip with a "feel" which is produced by forces presented to the three articulated arms from the motor/pickoff combinations above described.
  • the motion from null is normally accompanied by resistive "feel” forces applied by the motors in accordance with the curve shown in Figure 2.
  • the horizontal axis shows the motion of the hand grip 10 and platform 14 in any one of the directions from an assumed null position directly above the center of base plate 49 while the vertical axis shows the amount of resistive force necessary to provide the "feel" desired.
  • the resistive force is a relatively constantly increasing force along the line shown by reference numeral 110. When it reaches a position A, the resistive force increases slightly to position B with no significant increase in motion. This is used to provide a "detent" feel for the hand grip 10.
  • Figure 3 shows the block diagram of the system wherein the modified Stewart platform of Figure 1 is shown as a box 120, and the portion surrounded by dashed line 130 represents the processor 30 of Figure 1.
  • the output 16 from the ATI sensor 12 of Figure 1 is shown on a line 132 leading to an ATI box 134.
  • ATI box 134 is part of the force/torque sensor 12 of Figure 1 and may be included therein but is shown in Figure 3 as a separate box for producing the electrical signals representative of the forces and torques being applied by the operator in the six directions 20-25 of Figure 1.
  • the tachometer signals from the various motors in Figure 1 are shown on a single line 140 in Figure 3 leading to a box 142 labelled "Motor Control" which contains circuitry for controlling the start, stop and speed of the motors in accordance with the commands from the processor and the tachometer feedback signals on line 140.
  • the motor control signals on lines 59, 63, 65, 75, 87 and 95 of Figure 1 are represented in Figure 3 by a single line 144 coming from the "Motor Control" box 142.
  • the program input 60 of Figure 1 is shown, by way of example as coming from a pair of keyboards 146 and 148 connected respectively to an "Input & Command Process" box 150 and the ATI box 134 by lines shown with reference numerals 152 and 154.
  • the ATI box 134 produces signals representative of the forces and torques commanded by the operator through the hand control and these signals are transferred to the "Input & Command Process" box 150 by way of lines 156 (for linear forces) and 158 (for torques). Also, as mentioned, the "Reverse Kinematics" box 138 determines mathematically the current position of the upper platform 14 with respect to the lower platform 49 and this information is transferred to the "Input & Command Process" box 150 via a line 154.
  • "Input & Command Process” box 150 operates on the information concerning the present position of the upper platform 14 with respect to the lower platform 49, the commanded forces and torques as determined by the ATI box 134 and any modifications to the resistive force produced by the keyboards 146 and 148 to determine the desired position of the upper platform 14 with respect to the lower platform 49, and sends this information to a "Forward Kinematics” box 160 via and output shown as line 162.
  • "Forward Kinematics" box 160 operates on the input form line 162 to mathematically determine which motors should be actuated, in which direction and with what resistive force to cause upper platform 14 to get to the desired position with respect to lower platform 49. The mathematics involved will be explained hereinafter.
  • Base Frame (S B ) This cartesian frame (with origin at the base centroid) has the x B axis directed toward base pivot point B1 and Z B directed vertically downwards. Constant Vectors , and define the leg pivot points with respect to the origin of S B as shown in Figure 4(c).
  • Lower Leg Frames (S 1 , S 2 and S 3 ) - These frames have their origins at points , and (See Figure 5).
  • One joint rotates the lower leg through a roll angle ⁇ (i.e., ⁇ 1 , ⁇ 2 or ⁇ 3 ) whose axis or rotation is radial from the origin of S B .
  • Roll angles are zero when the leg is in the vertical plane through the axis of rotation as shown in Figure 4(b).
  • Each lower leg is then rotated through a pitch angle ⁇ , as shown in Figure 4(a).
  • Zero pitch angle occurs when lower and upper legs form a right angle.
  • Platform Frame (S p ) - This frame has its origin at the centroid of the plane defined by the three centers of each joint.
  • the X p axis is directed toward the ball joint at P1 whose position vector is , the Z p axis is normal (downwards) to the plane.
  • the Y p axis is parallel to the vector .
  • Vectors , and (referred to S p ) are fixed in S p of length a...
  • Ball joint locations are with respect to S B .
  • Equation 2 The position vector from the base plate origin to platform origin is then given by: Equation 2
  • Coordinate frames S 1 , S 2 and S 3 are obtained by first rotating S B about the Z B axis by 0°, -120°, and 120°, respectively, then a roll rotation ⁇ ; about the resulting X Bi axes (Shown in Figure 3(c).
  • the geometry for all three legs is identical and is shown in Figure 3.
  • Step 1 Compute Ball Joint Position
  • Step 2- Euler Rotation Matrix The radius from platform center to ball joints is a p . Then unit vectors in S p are given by
  • the three components (of each unit vector ) are the
  • the above computations can be applied to compute roll-pitch-yaw angles from the equations computed previously.
  • the above Euler angle equations refer to the base frame. This will be of use later when offset frames from S p or S B are introduced for the virtual pivot concept.
  • This matrix is computed from the previously given equation (14)(and denoted as E * p/B ) from the desired values ⁇ ' p , ⁇ * p , ⁇ * p obtained from the control law process.
  • Step 2 Compute Roll Shaft Angles
  • Rotating vectors into respective S i is accomplished by the following process which yields ⁇ i :
  • Step 3 Compute Joint Position
  • Step 4 Compute Leg Shaft Angles
  • Equation 24 where (X i * ,Z i * ) are the solutions to the three sets of quadratic equations (with the largest positive X-root).
  • the passive leg segments L 2 (which are driven by L 1 ) have angles
  • S p and may be defined at the center of an operator's wrist joint; and ii. Relative to Base System (S VB ) - defined by an offset position vector which is fixed and does not translate with S .
  • S VB Base System
  • the measured position vector of the platform is changed to the measured position at the virtual pivot origin, i.e.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Dispositif de commande à main à six degrés de liberté, dans lequel des mouvements effectués le long de six axes rencontrent une résistance créée par des moteurs (53-54, 63-64, 83-84) et dans lequel les moteurs sont disposés de façon à ne pas être amenés à supporter la masse d'un autre moteur et de façon à produire la 'sensation' adaptée au mouvement de la poignée (10).
PCT/US1993/007469 1993-08-10 1993-08-10 Dispositif de commande a main de pivotement virtuel, de deuxieme generation et a six degres de liberte WO1995004959A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/US1993/007469 WO1995004959A1 (fr) 1993-08-10 1993-08-10 Dispositif de commande a main de pivotement virtuel, de deuxieme generation et a six degres de liberte

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1993/007469 WO1995004959A1 (fr) 1993-08-10 1993-08-10 Dispositif de commande a main de pivotement virtuel, de deuxieme generation et a six degres de liberte

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WO1995004959A1 true WO1995004959A1 (fr) 1995-02-16

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1023653A1 (fr) * 1997-10-16 2000-08-02 Ross-Hime Designs, Incorporated Robot manipulateur
WO2003038541A2 (fr) * 2001-10-29 2003-05-08 Albert Schaeffer Dispositif d'entree selon le principe cinematique parallele et a retour haptique
FR2835068A1 (fr) * 2002-01-22 2003-07-25 Commissariat Energie Atomique Organe de commande a trois branches paralleles
EP1069488A3 (fr) * 1999-07-14 2004-07-28 Alps Electric Co., Ltd. Dispositif d'entrée de données monté dans un véhicule
ES2247889A1 (es) * 2003-10-09 2006-03-01 Universidad Politecnica De Madrid Dispositivo joystick robotico de arquitectura paralela de 6 grados de libertad con percepcion de fuerzas y posicion.
WO2017068102A1 (fr) * 2015-10-21 2017-04-27 Safran Electronics & Defense Dispositif de commande de vol d'un aeronef
CN110900558A (zh) * 2019-11-08 2020-03-24 上海交通大学 一种适用于机器人主从式遥操作的主端机器人系统
DE102019100056A1 (de) * 2019-01-03 2020-07-09 Manuel-René Gernaert Steuerungsvorrichtung zum Steuern von realen oder virtuellen Flugobjekten
CN112146910A (zh) * 2020-09-27 2020-12-29 清华大学 模拟装置
US11874683B1 (en) 2021-11-04 2024-01-16 United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Hand controller

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2228783A (en) * 1989-03-03 1990-09-05 Atomic Energy Authority Uk Multi-axis hand controller
EP0493795A1 (fr) * 1990-12-31 1992-07-08 Honeywell Inc. Levier de commande

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2228783A (en) * 1989-03-03 1990-09-05 Atomic Energy Authority Uk Multi-axis hand controller
EP0493795A1 (fr) * 1990-12-31 1992-07-08 Honeywell Inc. Levier de commande

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1023653A1 (fr) * 1997-10-16 2000-08-02 Ross-Hime Designs, Incorporated Robot manipulateur
EP1023653B1 (fr) * 1997-10-16 2010-03-17 Ross-Hime Designs, Incorporated Robot manipulateur
EP1069488A3 (fr) * 1999-07-14 2004-07-28 Alps Electric Co., Ltd. Dispositif d'entrée de données monté dans un véhicule
WO2003038541A2 (fr) * 2001-10-29 2003-05-08 Albert Schaeffer Dispositif d'entree selon le principe cinematique parallele et a retour haptique
WO2003038541A3 (fr) * 2001-10-29 2003-10-30 Albert Schaeffer Dispositif d'entree selon le principe cinematique parallele et a retour haptique
US7356448B2 (en) 2001-10-29 2008-04-08 Albert Schaeffer Input device operating on the parallel kinematic principle with haptic feedback
FR2835068A1 (fr) * 2002-01-22 2003-07-25 Commissariat Energie Atomique Organe de commande a trois branches paralleles
WO2003062939A1 (fr) * 2002-01-22 2003-07-31 Commissariat A L'energie Atomique Organe de commande a trois branches paralleles
US7392722B2 (en) 2002-01-22 2008-07-01 Commissariat A L'energie Atomique Control unit with three parallel branches
ES2247889A1 (es) * 2003-10-09 2006-03-01 Universidad Politecnica De Madrid Dispositivo joystick robotico de arquitectura paralela de 6 grados de libertad con percepcion de fuerzas y posicion.
WO2017068102A1 (fr) * 2015-10-21 2017-04-27 Safran Electronics & Defense Dispositif de commande de vol d'un aeronef
FR3042775A1 (fr) * 2015-10-21 2017-04-28 Sagem Defense Securite Dispositif de commande de vol d'un aeronef
RU2673755C1 (ru) * 2015-10-21 2018-11-29 Сафран Электроникс Энд Дифенс Устройство управления полетом летательного аппарата
US10293919B2 (en) 2015-10-21 2019-05-21 Safran Electronics And Defense Flight control device for an aircraft
DE102019100056A1 (de) * 2019-01-03 2020-07-09 Manuel-René Gernaert Steuerungsvorrichtung zum Steuern von realen oder virtuellen Flugobjekten
CN110900558A (zh) * 2019-11-08 2020-03-24 上海交通大学 一种适用于机器人主从式遥操作的主端机器人系统
CN110900558B (zh) * 2019-11-08 2023-03-14 上海交通大学 一种适用于机器人主从式遥操作的主端机器人系统
CN112146910A (zh) * 2020-09-27 2020-12-29 清华大学 模拟装置
CN112146910B (zh) * 2020-09-27 2021-08-10 清华大学 模拟装置
US11874683B1 (en) 2021-11-04 2024-01-16 United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Hand controller

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