Remote manipulator

An all electric remote manipulator system characterized by being remotely maintainable and repairable, comprising:

• a master unit operable by a user, said master unit being provided with
• a. a frame;
• b. a pair of articulated master arms for positioning one at each side of said user, each of said articulated master arms having a hand unit, a forearm unit, a wrist joining said hand unit to said forearm unit, an upper arm unit attached to said forearm unit with an elbow unit, and a shoulder unit connecting said upper arm unit to said frame, whereby said user grasping said hand units of said master arms can impart rotary and angular motions to selected portions of said articulated master arms in relation to movement of said user, each of said wrist, elbow and shoulder joint units being provided with with means for generating electrical signals proportional to positions of said joint units;
• a slave unit operable by signals derived from said master unit, said slave unit being provided
• a. a torso element having at least rotary positional adjustment about a vertical axis;
• b. at least one pan/tilt unit releasably attached to said torso, said pan/tilt unit carrying a video camera, said pan/tilt unit provided with drive means for effecting aim of said camera and with means to produce signals as to directions of said aim;
• c. a pair of identical and interchangeable articulated slave arms each releasably attached to opposite sides of said torso, each of said articulated slave arms having a shoulder joint portion adapted for rotation about a horizontal axis, an upper arm portion having a first end releasably and rotatably attached to said shoulder joint portion and adapted for rotation about its own axis, a forearm portion releasably and pivotally attached at a first end to a further end of said upper arm with an elbow joint portion, said forearm portion adapted for rotation about its own axis, a hand portion, including at least a pair of fingers adapted for movement toward and away from each other, said hand being releasably and pivotally attached by a wrist joint portion at a further end of said forearm portion and adapted for full rotation about its own axis, said elbow joint portion and said wrist joint encased in a flexible boot, said articulated slave arms each provided with electrically operated drive assemblies for carrying out pivotal and rotary motions of portions thereof at said joints portions, each of said drive assemblies being provided with means for producing electrical signals corresponding to operation of said drive assemblies;
• and
• a control circuit electrically connected with said master unit and said slave unit, said control circuit adapted to receive said position signals from said master unit and drive assembly movement signals from said slave unit and selectively generate movement initiating signals to said drive assemblies when selected differences exist between said position signals and said drive assembly movement signals to null said differences, said control circuit further providing signals for moving said pan/tilt unit to effect said aim of said camera mounted thereto.

An all electric remote manipulator system characterized by being remotely maintainable and repairable, comprising:

• a master unit operable by a user, said master unit being provided with
• a. a frame;
• b. a pair of articulated master arms for positioning one at each side of said user, each of said articulated master arms having a hand unit, a forearm unit, a wrist joining said hand unit to said forearm unit, an upper arm unit attached to said forearm unit with an elbow unit, and a shoulder unit connecting said upper arm unit to said frame, whereby said user grasping said hand units of said master arms can impart rotary and angular motions to selected portions of said articulated master arms in relation to movement of said user, each of said wrist, elbow and shoulder joint units being provided with potentiometer means for generating electrical signals proportional to positions of said joint units;
• a slave unit operable by signals derived from said master unit, said slave unit being provided with
• a. a torso element having at least rotary positional adjustment about a vertical axis;
• b. a pair of pan/tilt units releasably attached to said torso, said pan/tilt units each carrying a video camera, said pan/tilt units provided with drive means for effecting aim of said camera and with means to produce signals as to directions of said aim;
• c. a pair of identical and interchangeable articulated slave arms each releasably attached to opposite sides of said torso, each of said articulated slave arms having a shoulder joint portion adapted for rotation about a horizontal axis, an upper arm portion having a first end releasably and rotatably attached to said shoulder joint portion and adapted for rotation about its own axis, a forearm portion releasably and pivotally attached at a first end to a further end of said upper arm with an elbow joint portion, said forearm portion adapted for rotation about its own axis, a hand portion, including at least a pair of fingers adapted for movement toward and away from each other, said hand being releasably and pivotally attached by a wrist joint portion at a further end of said forearm portion and adapted for full rotation about its own axis, said elbow joint portion and said wrist joint encased in a flexible boot, said articulated slave arms each provided with electrically operated reversable motor and gear train drive assemblies for carrying out pivotal and rotary motions of portions thereof at said joints portions, each of said drive assemblies being provided with potentiometer means for producing electrical signals corresponding to operation of said drive assemblies;
• and
• d. electrical connecting means associated with junctions of said slave arms with said torso, said electrical connecting means each having a first pair of half connectors attached to said torso and a second pair of complimentary half connectors attached to said slave arm whereby attachment of each said slave arms to said torso interconnects said first halves with said second halves, and separation of said slave arms from said torso separates said connector means;
• and
• a control circuit electrically connected with said master unit and said slave unit, said control circuit adapted to receive said position signals from said master unit and drive assembly movement signals from said slave unit and selectively generate movement initiating signals to said drive assemblies when selected differences exist between said position signals and said drive assembly movement signals to null said differences, said control circuit further providing signals for moving said pan/tilt unit to effect said aim of said camera mounted thereto.