Teleoperator slave - WAM design methodology

This paper recommends an improved design methodology for the slave half of teleoperator systems based on the notion of master-slave symmetry. Traditional slaves consist of a conventional robot retrofitted with force-torque sensors. The new methodology eliminates dependence on destabilizing force-torque-sensor schemes by augmenting existing master design methods with newly invented cable mechanisms. Design goals such as bandwidth, backdrivability, and force fidelity have been applied successfully to optimize design of the trajectory-and-force-controllable Whole-Arm Manipulation (WAM) robot. Although not yet used as the slave of a teleoperator system, the results from performance tests of the experimental WAM manipulator are promising. Finally, the authors suggest a new concept - Whole-Arm Haptics - that is only possible with whole-arm manipulation, where the user steers the kinematic redundancy directly. Whole-Arm Haptics allow teleoperators to manipulate objects larger than the slave itself.