Date of Defense



Electrical and Computer Engineering

First Advisor

Dr. John Gesink

Second Advisor

Dr. Norali Pernalete


Telerobotic is widely used nowadays in medical fields, space explorations and national defense. Most telerobotic design solutions can be viewed as two major components, a master and a slave. This project consists of designing, implementing and building an intelligent control system for a telerobotic arm using motion and pressure sensors. In our design, we will be using a PHANToM 1.5 haptic device as the master and a UMI RTX robot as the slave. Both devices communicate between each other via a personal computer. The motion sensors' circuitry implements three Omron photoelectric sensors and is interfaced with the UMI RTX through the PC game port. Whenever an obstacle is in the range of the moving arm, a force is applied to the PHANToM 1.5, which prevents it from moving, and therefore the UMI RTX's arm stops. For our pressure sensor's circuitry we are using a Tekscan FlexiForce pressure sensor connected to a Motorola 68HC12 microcontroller. The pressure sensor is mounted on the gripper and its circuitry provides the user information about the gripping force. The digital output of the microcontroller is also interfaced with the UMI RTX through the PC game port and as a result, the gripping force is displayed to the user on a GUI (Graphical User Interface). As our third task, we are mapping, to a scale of 1:15, the z-movement of the PHANToM 1.5 to the UMI RTX's elbow. This implies that one inch forward movement on the PHANToM 1.5 will move the UMI RTX fifteen inches in circumference to the right and one inch backward on the PHANToM 1.5 will produce fifteen inches to the left for the robot.

Access Setting

Honors Thesis-Campus Only