ApplicationNo. 05/436313 filed on 01/24/1974
US Classes:414/5, Having means to transmit feedback signal from manipulator means to hand, finger, or arm901/1, MOBILE ROBOT901/23, Electric motor901/25, Gearing901/27, ARM PART901/28, Joint901/46, SENSING DEVICE901/9Closed loop (sensor feedback controls arm movement)
ExaminersPrimary: Makay, Albert J.
Assistant: Abraham, George F.
Attorney, Agent or Firm
AbstractAn anthropomorphic master/slave manipulator system including master arm apparatus including a plurality of master tubular articulated portions which are coaxially adjacent one another and relatively rotatable, master transducing apparatus responsive to the relative rotation of the adjacent tubular portions and operative to provide a driving signal, slave arm apparatus including a plurality of slave tubular portions corresponding to those portions of the master arm apparatus, the slave tubular portions being coaxially adjacent one another and relatively rotatable, slave transducing apparatus responsive to the driving signal and operative to drivingly rotate the slave tubular portions through an angle that corresponds to the relative rotation of the corresponding master arm tubular portions, and a communication link between the master transducing apparatus and the slave transducing apparatus for applying the driving signal to the slave transducer.