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Sarcos
has developed a number of application specific human/computer interfaces
(HCIs) that permit an individual to be visually and mechanically immersed
within a computer generated synthetic environment.
In general, Sarcos identifies all of its HCI's
as individual portals or IPORTs. Four subsystem types include (!) mobility
portals (MPs), (2) SenSuit command systems (SCSs), (3) graphic workstation
interfaces (GWIs), and (4) dexterity masters (DMs).
HCIs are designed to interface with an operator's
body in a lightweight, low-resistance, and comfortable way. Systems have
various degrees of freedom (DOF) with joint angles measured by encoders.
Certain systems can apply dynamic loads (force reflective) on the operator's
body segments. Communication between HCIs and computers can be both wired
and wireless. Computation resources perform necessary kinematic transformations
and control functions locally.
Mobility portals are designed to allow a
user to move around naturally within a synthetic environment and make real-time
decisions (speed, direction, exertion, and posture). A decision to move
in the synthetic environment results in the expenditure of energy as well
as exposure to risk and other environmental factors. Sarcos has developed
four application specific mobility interfaces. The Uniport is shown left
and the Treadport is in the inset. Descriptions of BiPort and Onmiport are
available.
The Sensuit allows direct interactive, real-time
measurement of up to 32 SOF of an operator's body. Signals can be used to
control full body icons operating in synthetic environments, or any of the
Sarcos mobility platforms or robotic systems.
GRAPHIC WORKSTATION INTERFACES
MOBILITY PORTALS
SENSUIT COMMAND SYSTEM
Sarcos is now developing small, intelligent, but inexpensive position and force-reflective interfaces between users and workstations. These interfaces emphasize the real-time and natural control of the multiple DOF movements of images generated by a graphics workstation. The interfaces are based on Sarcos proprietary microsensors.