Date of Defense



Electrical and Computer Engineering

First Advisor

Dr. Norali Pernalete


Atelerobotic system allows a user to interact with an environment indirectly. Our project successfully creates a telerobotic environment between the Phantom 1.5 controller and the UMI RTX robotic arm. Utilizing the haptic features of the Phantom controller, a more realistic interaction was created between the telerobotic system and the user by providing sensory feedback. As the user manipulates the hand-controlled Phantom device, signals are sent via a parallel port to the personal computer. A real-time WIN32 application, utilizing the GHOST SDK library, reads the position of the Phantom controller's coordinates and calculates the corresponding motor positions of the UMI RTXrobotic arm. The motor positions are then outputted to a text file where they are then read in by the WIN32 application controlling the UMI RTX. This application relays the motor positions, via an RS232 port, to the UMI RTX. The UMI RTX activates the appropriate motors, moving the arm to a position corresponding to the Phantom.

A pressure sensor system was designed and mounted to the UMI RTX robotic arm. When the gripper closes on an object, a force is applied. The Tekscan FlexiForce sensor mounted to the tip of the gripper detects the applied force, causing its pressure sensitive dye to compress. The compression reduces the resistance, thus raising the output voltage of the circuit. The output voltage is then relayed to the circuitry of the sensor system where it is adjusted using an operational amplifier. The adjusted output voltage is passed to an analog meter for the user to monitor.

Additional features can be added to maximize the projects usability. A power system independent of the lab's workbench would allow the system to be operated outside of the lab. Also, the sensor's output voltage could be fed into the PC for further data interpretation.

Access Setting

Honors Thesis-Open Access