Bernard Roth

Abstract: Bio BIO Salisbury worked on the development of the Stanford-JPL Robot Hand, the JPL Force Reflecting Hand Controller, the MIT-WAM arm, and the Black Falcon Surgical Robot. His work with haptic interface technology led to the founding of SensAble Technology, producers of the PHANToM haptic interface and software. He also worked on the development of telerobotic systems for dexterity enhancement in the operating room. His current research focuses on human-machine interaction, cooperative haptics, medical robotics, and surgical simulation.

TL;DR: A new actuation concept for human-friendly robot design is presented, referred to as DM/sup 2, which substantially reduces the impact loads associated with uncontrolled manipulator collision by relocating the major source of actuation effort from the joint to the base of the manipulator.

TL;DR: By drastically reducing the effective impedance of the manipulator while maintaining high frequency torque capability, it is shown that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.