00100				STANFORD   UNIVERSITY
00200				   Stanford, Ca. 94305
00300	
00400	Artificial Intelligence Laboratory			October 18,1973
00500	
00600	
00700	Mr. Jim Nevins
00800	Draper Laboratory
00900	DC 7-213
01000	Cambridge, Ma. 02139
01100	
01200	Dear Jim:
01300	
01400		Russ Noftsker of M.I.T. asked me to send you a description of
01500	the hydraulic arm we developed here at Stanford about  6  years  ago.
01600	There  is  little  information  available  in  separate form, so I am
01700	sending along this PhD thesis of Mike Kahn who used the  arm  in  the
01800	experimental  part  of  his  work.   The arm was used for a couple of
01900	years, but has been inactive for several years as we use our electric
02000	arms exclusively now. It's a little larger than human scale, 6 degree
02100	of freedom plus hand device,  with  servo  valve  control  of  rotary
02200	actuators on all joints.  Pressure is 2000 psi for the 4 root joints,
02300	and 1000 psi for the outer 3 joints.Feedback is by potentiometers  on
02400	all   joints,   with   additional  pressure  feedback  thru  pressure
02500	transducers on the first 4 joints.
02600	
02700		I  hope  this info will be of some use to you in your work on
02800	your new arm.
02900	
03000	
03100						Sincerelu,
03200	
03300	
03400	
03500						Vic Scheinman