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A Robotic Device for Three-Dimensional Manipulation Over the Internet

[+] Author Affiliations
Christopher P. Madden, Matthew R. Stein

Roger Williams University, Bristol, RI

Paper No. DETC2004-57215, pp. 589-594; 6 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The PumaPaint site has been allowing users to create paintings remotely over the Internet since 1998. Although this site allows for some artistic creativity, the task is inherently two-dimensional and lacks any real manipulation capability by the remote user. On a similar theme but with much higher complexity, we are creating a robotic device that will allow true, three-dimensional manipulation by the remote user with an added capacity for force control and kinesthetic feedback. The robotic device will be a roughly anthropomorphic pair of limited degree-of-freedom mechanical hands arranged in mutual opposition. We are designing these hands by building parametric models using AutoDesk Inventor® and then fabricating the components in our sparsely equipped machine shop. This paper will preset the design concept and details of the modeling process, plus how this process is informed by our fabrication capacity. The paper will also present the partially completed robotic device and discuss remaining obstacles to completion.

Copyright © 2004 by ASME
Topics: Robotics , Internet



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