遥作机器人系统中的触觉反馈

由于人工智能,传感和控制技术水平的限制,工作在复杂或未知环境下的全自主型机器人是目前难以达到的目标。具有遥控作业能力的机器人系统则是实现未知环境下作业的有     

机器人触觉临场感电触觉反馈技术研究

本文对机器人触觉临场感电触觉反馈技术进行了实验性研究。设计出了电触觉反馈装置和触觉反馈手套,结合我们已经研制出的指形触觉传感器和数据手套构成了遥操作机器人触觉临场感系统。联机实验结果表明,该触觉反馈装置能够给操作者提供有效的触觉反馈。     

机器人触觉临场感系统研究

本文设计研制的机器人触觉临场感系统能对现场的物体进行分类、识别．主要介绍其原理、结构及联机实验结果．     

机器人射流触觉显示器及系统研制

介绍了一种基于水射流刺激的机器人触觉显示器及触觉再现系统.该触觉显示器采用6根内径为2 mm的紫铜管折弯焊接构成2×3射流阵列并经环氧树脂包封而成,射流水压由微型水泵提供并经柔性塑料软管与喷嘴连接.讨论了射流水柱高度及射流时延问题.由该触觉显示器组建的触觉再现系统上的实验表明该触觉显示器可以较好地满足主从机器人触觉信息反馈的需求,并具有温和舒服安全有效的特点.     

机器人触觉传感器发展概述

触觉是机器人感知外部环境的重要信息来源。近10年来,随着触觉感知技术和交互技术的广泛应用,机器人触觉传感技术得到了机器人研发人员的高度关注。首先简要回顾了近50年来机器人触觉传感器技术研究的发展情况,特别是我国在机器人触觉传感器技术领域的研究历程;然后,对现有机器人触觉传感技术进行了分类总结;接着,对当前触觉传感技术研发的前沿即电子触觉皮肤的研究做了分析和阐述,指出了机器人触觉传感技术研发亟待解决的关键问题,并对未来的发展趋势提出了一些见解。     

临场感遥控机器人

全部由操作人员操作的纯粹的主从式机械手虽然也具有某种临场感,但其使用范围是有限的。最近日本正在开发一种自主行驶式遥控机器人系统,机器人的行驶是自主控制的,而它的机械手是由操作人员遥控的。通过由远处机器人传回的视觉、触觉、力觉及听觉等信号,产生一种使操作人员亲临现场的感觉。开发该机器人的目的,是从社会需求出发,扩大机器人在非结构环境中的应用。     

遥作机器人触觉临场的电触觉实现

本文对电触觉的实现作了实验性研究，提出了在操作者手指上实现触觉再现的电极形状和分布以及剌激电泫波形，并由此给出了实现遥作机器人触觉临场感的系统构成及实现方案，该系统可使操作者遥感到从机器人手指与点，线，面等形状物的接触，位置分辨力可达２．２ｍｍ。     

带有力觉和触觉临场感的灵巧手主从系统的设计

针对遥控作业中控制者操作时缺乏力觉和触觉临场感等问题,介绍了设计的带有力觉和触觉临场感主、从灵巧手系统,讨论了在从机械手上触觉和力觉的感知以及在主机械手上触觉和力觉的再现等问题,提出了利用模糊控制实现触觉再现以及改进的力反馈－位置型结构来实现力觉再现的新方法,最后进行了实验验证．     

利用冗余信息消除触觉临场感的通信时延

通信时延消除是机器人临场感技术应用中一个极其重要的课题．本文就机器人临场感中的触觉通信时延问题,以实现触觉再现信息的本地快速重构为出发点,提出并阐述了利用冗余信息消除触觉临场感空间通信时延的新方法,同时推导出了相应的时延消除算法,仿真试验验证了该方法的有效性．     

消除阵列触元间相互干扰的一种方法

本文论述了阵列触觉传感系统中普遍存在的触元间的相互耦合干扰问题,提出了干扰的生成,可能的几种干扰情况及有效排除干扰的一种实用方法,该方法在作者研制的16×16的阵列触觉传感系统中得到了很好的应用．     

Insect Telepresence: Using Robotic Tele-Embodiment to Bring Insects Face-to-Face with Humans

The Insect Telepresence project combines expertise from the robotics and human-computer interaction communities to create a robot exhibit that enables telepresence in scale. The underlying mission of this work is educational: to promote appreciation for insect life and small-scale complexity through exploration of live insect colonies. In this article we describe the robot hardware and software used to bring students face-to-face with insects. We also summarize the user-centered design process and formal HCI methods used to design and evaluate the Insect Telepresence robot. The complete working exhibit, now installed as a permanent robot-entomology station at the Carnegie Museum of Natural History, is presented in this paper in words and pictures.     

Advanced Operator Interface Design for Complex Space Telerobots

With technology advancements in computers and displays, computer interfaces can be used to alleviate the operator workload while controlling a complex robot. A graphical simulation of the robotic system can be used to improve development, train operators, and enhance their performance during actual operations. This paper summarizes the advantages realized using a graphical simulation to visually display telemetry from a multiple arm space telerobot. By displaying the commanded position of a manipulator graphically along with the actual position, the operator becomes more effective in diagnosing anomalies in the system. The negative impact of communication time delay can also be alleviated using this commanded display. The above advantages coupled with the simulation's ability to display multiple synthetic views, to move each view to any virtual location, and to highlight functions to emphasize important information, can ease the operator's workload, making him or her more effective in controlling a complex system.     

夹钳式力反馈遥微操作系统的设计与试验

研制一种夹钳式的力反馈遥微操作系统,包括夹钳式主手、由压电陶瓷驱动的微夹持器和主从式力反馈控制模块．该系统可使操作者在遥微操作中具有夹持力觉临场感,避免破坏易碎的操作对象．详细介绍了夹钳式主手、从手和力反馈的设计与控制方法,并搭建试验平台进行遥微操作试验,分析了主手和从手之间的位置跟踪、力反馈和时滞特性．制作和试验结果验证了系统方案的可行性,为进一步将遥微操作应用于微装配和其他领域提供参考．     

Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision?1

This paper surveys recently published literature on tactile sensing in robotic manipulation to understand effective strategies for using tactile sensing and the issues involved in tactile sensing. It consists of a brief review of existing tactile sensors for robotic grippers and hands, review of modalities available from tactile sensing, review of the applications of tactile sensing in robotic manipulations, and discussion of the issues of tactile sensing and an approach to make tactile sensors more useful. We emphasize vision-based tactile sensing because of its potential to be a good tactile sensor for robots.     

双向力反馈控制系统稳定性分析的统一方法

本文针对遥控机器人通用双向力反馈控制系统，提出了基于算子无源性理论的稳定性分析统一方法。     

System of personal identification by using tactile stimuli

This paper proposes a personal identification system that uses tactile stimuli. Recently, scientists have been conducting research in biometrics using biomedical information. However, there is the problem that biomedical information is unchangeable. For example, if a thief steals another user’s biomedical information, that person has no information to register. Due to the problems of sight information and unchangeable biomedical information, we propose a solution that uses the sense of tactile stimuli. Tactile information is difficult to steal and relies on human memory, which is unchangeable. This paper proposes a system that uses a pattern formed by a tactile stimuli time series instead of a password number as the identification key. We also discuss the results of an identification experiment and a memory property experiment. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008