Steven C. Venema

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In this paper we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Wash-ington (UW) was used by multiple test operators under a variety of treatment(More)
High fidelity computer graphics preview and predictive displays provide substantial aid in four major space telerobotic activities: overall workspace design including viewing conditions, specific workspace analysis for given tasks in a fixed setting, operator training, and reduction of operator's uncertainty and operation time under communication time delay(More)
A previously developed 3 axis mini direct drive robot has been enhanced with two additional direct drive axes for general positioning and orientation of an axially symmetric tool. The arm has a work volume of about 50 cc and will have 5-10 micron or better resolution and repeatability. The arm forms an initial prototype for the NASA/Univer-sity of(More)
In presenting this thesis in partial fulfillment of the requirements for a Master's degree at the University of Washington, I agree that the Library shall make its copies freely available for inspection. I further agree that extensive copying of this thesis is allowable only for scholarly purposes, consistent with " fair use " as prescribed in the U.S.(More)
This paper studies the ways that the performance of direct drive serial robots changes as system size is changed. We are particularly interested in the physical laws for scaling down direct drive arms to small sizes. Using theoretical scaling analysis, we show that there is a net physical performance advantage to small direct drive arms. A key factor for(More)
Ground controlled telerobots can be used to reduce astronaut workload while retaining much of the human capabilities of planning, execution, and error recovery for specific tasks. Miniature robots can be used for delicate and time-consuming tasks such as biological experiment servicing without incurring the significant mass and power penalties associated(More)