Development of the ORBITEC Telerobotic Control System (OTCS)

This paper describes the development of an innovative system for telerobotic control of dexterous manipulators and end-effectors. The system, known as the ORBITEC Telerobotic Control System (OTCS), provides control of position and interaction with the environment using the feedback of visual and tactile information to the operator. This approach allows for a simple, low-cost, and light-weight controller that may be integrated and used with various dexterous manipulators/end- effectors. During the development, key master controller components were designed, built and tested by ORBITEC. These included a unique, low cost miniature rotation sensor and tactile stimulators and arrays.