Force-Reflecting, Finger-Position-Sensing Mechanism

An electromechanical device called the "Dexterous Master" (DM) is an exoskeletal mechanism that is worn on a human operator's hand for (1) measuring the positions and orientations of the fingers relative to the palm and (2) applying, to the fingers, feedback forces from a remote robotic manipulator. The DM is part of a force-reflecting, hand-operated control apparatus through which the operator controls the manipulator. The DM is installed on, and operated in conjunction with, another mechanism that measures the position and orientation of the hand and reflects forces to the hand in the six degrees of freedom that determine the position and orientation of an end effector (robot hand) on the manipulator.