A man-machine interface for the development of an innovative underwater gripper

摘要

Abstract The man-machine interface (MMI for short) of AMADEVS is dealt with. This project, funded by the EU in the framework of MAST 2, aimed to demonstrate the possibility of improving the capabilities of tele-operated or autonomous underwater manipulators by using advanced grippers and manipulation control techniques. The need to assist the development of the system and to tele-operate a non-anthropomorphic gripper for subsea operations addressed the design of an MMI which enables the human operator to interact with the robot at the various levels of the control system. The resulting MMI architecture is constituted by a set of kernel tasks and a set of application tasks which manage operator interactions with the machine. A detailed description of the MMI architecture and of the operator interface is given, focusing on both input and output applications. A summary of MMI experimental operation is presented. MMI performances in allowing the human operator to execute dextrous manipulation tasks are discussed. Notes Tel: +39 10 6475616; Fax: + 39 10 6475600: e-mail: [email protected].