NASA NTRS · 19730000496
Master/slave manipulator system
Abstract
System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.
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Vykukal, H. C., King, R. F., Vallotton, W. C.. 1973-12-01. Master/slave manipulator system. https://ntrs.nasa.gov/citations/19730000496
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