05038089 is referenced by 309 patents and cites 32 patents.

A master six-degree-freedom Force Reflecting Hand Controller ("FRHC") is available at a master site where a received image displays, in essentially real-time, a remote robotic manipulator which is being controlled in the corresponding six-degree-freedom by command signals which are transmitted to the remote site in accordance with the movement of the FRHC at the master site. Software is user-initiated at the master site in order to establish the basic system conditions and then a physical movement of the FRHC in Cartesean space is reflected at the master site by six absolute numbers that are sensed, translated, and computed as a difference signal relative to the earlier position. The change in position is then transmitted in that differential signal form over a high speed synchronized bilateral communication channel which simultaneously returns robot-sensed response information to the master site as forces applied to the FRHC so that the FRHC reflects the "feel" of what is taking place at the remote site. A system-wide clock rate is selected at a sufficiently high rate that the operator at the master site experiences the Force Reflecting operation in real time.

Synchronized computational architecture for generalized bilateral control of robot arms
Application Number
Publication Number
Application Date
October 28, 1988
Publication Date
August 6, 1991
Zoltan F Szakaly
John R Manning
Thomas H Jones
The United States of America represented by the Administrator of the National Aeronautics and Space Administration
G06F 15/46
G05B 19/24
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