The use of tactile sensory data for the control of whole-arm manipulators (WAMs) is hampered by a lack of suitable devices capable of providing tactile feedback to the operator. The objective of Phase I is to address this problem by undertaking the development of an innovative tactile display specifically designed for application to WAM systems. The work scope includes the formulation of design specifications for a WAM forearm display; performance of advanced development upon tactile display technology previously developed at the firm; development of a thin, flexible matrix in which the tactile display elements ("tixels") are to be embedded; fabrication of a 5x12 tactile display array for a lower WAM forearm; fabrication of an advanced display driver; assembly and testing of the display system; preparation of the final report; and delivery of the WAM forearm tactile display prototype to the sponsor for further evaluation. Phase II will deliver a complete tactile display system (upper and lower forearms, chest, and stomach) to NASA in support of ongoing WAM programs.Important markets are foreseen in industries involving remote manipulation of large objects in toxic, pressurized, or thermally extreme environments, e.g., space operations; handling of toxic chemical or biological materials; undersea mining or salvage operations; hot-object handling during manufacturing operations; and operations in extreme cold-weather regions.whole-arm manipulators, tactile displays, tactile sensors, tactile telepresence, teleroboticsSTATUS: Phase I Only
