手控器的性能和评价方法

手控器是主从遥操作系统的关键设备，它不仅是从机械手进行实时运动控制的输入设 备，而且是将从机械手与未知环境之间的相互作用力提供给操作者的力觉遥现装置，是人与 机器人之间建立紧密动态耦合的重要接口．因此，其性能的好坏，直接影响遥操作系统的操 作性能．近年来，在手控器研制方面的文章已发表不少，但很少涉及对手控器进行评价的方 法和量化指标．这种目标的模糊性必然造成某些设计上的盲目性．本文作者在总结多年来对 手控器研制和试验工作经验的基础上，试图对这个问题进行比较深入的探讨，初步提出了一 套评价方法和量化指标．

THE PERFORMANCE AND EVALUATION METHOD OF MASTER MANIPULATOR`

Master arm is a key device for master slave manipulation system (MSMs), It is n ot only to measure the human operator's arm motion, but also to telepresence the forces the slave arm will receive from the environment during tasks, and is an important man-machine interface for establishing a kinesthetic coupling between operator and telerobot. thus, its performance will directly affect the maneuve rability of MSMs. So far, a variety of master arm designs have been developed for teleoperation, but the evaluation method and evaluation index of master arm have seldom been studied. The unclearness of aim will bring about the blindness of design. In this paper, we attempt to explore it based on our experience of development in master arm and offer the evaluation method and eval uation index of master arm.