Abstract: A system for remotely controlled performance of unmanned extravehicular activity in outer space, such as satellite maintenance and repair. The system comprises an orbitable space vehicle having a worksite accessible from the exterior of the vehicle and remotely controlled means associated with the space vehicle worksite for securing at the worksite the equipment in space upon which extravehicular activity is to be performed. At least one servo actuated manipulator slave subsystem is located adjacent to the worksite for performing work there. That slave subsystem is operatively interconnected to a remote manipulator master subsystem. A bilateral force reflective position control subsystem provides the hand of the operator of the master subsystem in a natural way with a sense of feel which is proportional to the loads applied by the operator through the slave subsystem and to loads imposed by the remote environment through the slave subsystem.

Abstract: A mechanized power assisted apparatus for flattening and stretching wet tanned hides on a smooth flat plate preparatory to drying in the course of leather manufacture. The apparatus comprises support means holding a squeegee-type slicker element for positioning closely adjacent to a hide-carrying plate. The slicker element has a smooth straight edge which is rotatable in a plane parallel to the surface of the plate. The slicker support means is associated with a powered travel means for moving the support means in a plane parallel to and spaced from the surface of the hide-carrying plate and over a hide supported on that plate. Powered thrust means are associated with the slicker element for moving the element into and out of contact with the wet hide and for exerting force on the slicker element. Spaced apart control means are provided for actuating the power assist means for manipulating the slicker element over the surface of a hide in simulation of manual hide application.

Abstract: An improved remote control master-slave manipulator of the type by which an operator working on one side of a protective barrier wall may perform work on the opposite side of that wall. The improved manipulator is characterized by a unique power assist tong system permitting increased handling capacity. It has a rotating counterweight system for improved balancing of the manipulator in its "Y" motion forwardly away from the operator. It has means for translating linear motion into rotary motion for transfer through the barrier wall and retranslation into linear motion. The wrist joint assemblies are remotely removable, replaceable and interchangeable as are the tong assemblies.