Newsgroups: comp.robotics
Path: brunix!sgiblab!swrinde!cs.utexas.edu!bcm!aio!li
From: li@aio.jsc.nasa.gov (Larry Li)
Subject: NASA/JSC's Telepresence Controlled Dual-Arm Dexterous Robot
Message-ID: <1994Mar12.055120.14613@aio.jsc.nasa.gov>
Organization: NASA Johnson Space Center
Date: Sat, 12 Mar 1994 05:51:20 GMT
Lines: 26


The Automation and Robotics Division at NASA/JSC has developed a
dual-arm robot called DART, for space applications.  DART has a 
dexterous robotic hand on the right arm and a gripper on the left.
The human operator wearing VR helmet receives "egocentric" stereo
visual feedback from two color cameras in a 3-DOF head.  The arms
are controlled by Polhemus 3D Trackers, and the hands are 
controlled by exoskeleton gloves.  

DART has been tested to see if telepresence/VR human-interface
technologies can be used to make teleoperation more intuitive and
efficient.  Our initial evaluations have shown very promising
results.  For example, DART was able to tie a knot with a rope,
flip various types of switches, perform various hand-over-hand
tasks, grasp irregularly shaped objects, handling softgoods such
as thermal blankets.

We will be adding automation technologies such as voice command,
laser ranging, and primitive-based control to enhance DART's
capabilities.  

Any question on DART can be directed to Larry Li at (713)483-9160,
or li@aio.jsc.nasa.gov



