Go to the NASA Homepage
Search >
Click to Search
Human Systems Integration Division homepageHuman Systems Integration Division homepage Organization pageOrganization page Technical Areas pageTechnical Areas page Outreach and Publications pageOutreach and Publications page Contact pageContact page
Human Systems Integration Division Homepage
Outreach & Publications Sidebar Header
Go to the Outreach & Publications pageGo to the Outreach & Publications page
Go to Awards pageGo to Awards page
Go to News pageGo to News page
Go to Factsheets pageGo to Factsheets page
Go to Multimedia pageGo to Multimedia page
Go to Human Factors 101 pageGo to Human Factors 101 page
What is Human System Integration? Website
Publication Header
Design and Implementation of a force reflecting manipulandum for manual control research  (1992)
Abstract Header
"This paper describes a force reflecting interface developed to apply programmable mechanical loads to the human arm for the experimental study of a specific component of manual output: tremor. Because it was designed to meet the performance requirements for effective dynamic coupling with tremor, the interface is also capable of producing high bandwidth simulations of general mechanical environments for interaction with volitional human movement.

The interface is a two degree of freedom manipulandum (i.e., backdriveable manipulator) based on a novel spherical 5R closed chain linkage that joins the output of two DC motors to a handle grasped by the human subject/operator. This linkage configuration provides high structural bandwidth and permits approximate Cartesian control of endpoint impedences without geometric computation. The computational burden for real time control of manipulandum load simulations is further reduced by a hardwired digitally supervised analog controller that makes use of directly sensed displacements, velocities, and accelerations at the two motor shafts and forces at the human-machine interface."
Private Investigators Header
Authors Header
Groups Header
Keywords Header
force reflecting, human-machine, interface, manipulandum, manipulandum, tremor
References Header
In H. Kazerooni, editor, Advances in Robotics, American Society of Mechanical Engineers, New York, 1992, pp. 1-12
Download Header
Go to the First Gov Homepage
Go to the NASA - National Aeronautics and Space Administration Homepage
Curator: Phil So
NASA Official: Alonso Vera
Last Updated: August 15, 2019