A MAN-MACHINE INTERFACE FOR THE DEVELOPMENT OF AN INNOVATIVE UNDERWATER GRIPPER

The man-machine interface (MMI for short) of AMADEUS is dealt with. Th is project, funded by the EU in the framework of MAST 2, aimed to demo nstrate the possibility of improving the capabilities of tele-operated or autonomous underwater manipulators by using advanced grippers and manipulation control techniques. The need to assist the development of the system and to tele-operate a non-anthropomorphic gripper for subs ea operations addressed the design of an MMI which enables the human o perator to interact with the robot at the various levels of the contro l system. The resulting MMI architecture is constituted by a set of ke rnel tasks and a set of application tasks which manage operator intera ctions with the machine. A detailed description of the MMI architectur e and of the operator interface is given, focusing on both input and o utput applications. A summary of MMI experimental operation is present ed. MMI performances in allowing the human operator 20 execute dextrou s manipulation tasks are discussed.