机器人临场感的电触觉再现技术研究􀀁

本文在阐述机器人触觉临场感再现技术的相关原理及实现技术的基础上,指出了目前电触觉再现技术中存在的问题,提出了实现电刺激电流在线调节的新构想。文章最后述及了国专家学者关于触觉概念的新观念,并认为在未来一段时间内,与此相关的课题将是触觉研究的重点方向。     

几何形状触觉再现的矢量电流方法研究

针对触觉临场感技术中几何形状再现的边缘模糊效应的问题,对现有电触觉再现装置的结构及刺激方式进行了研究分析,提出了适合几何形状触觉再现的矢量电流方法,并进行了分析讨论。初步实验表明,电触觉再现的矢量电流方法可以较好地克服电触觉再现的边缘模糊效应。     

遥作机器人触觉临场感的电触觉实现

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刺激电流波形，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机械手指与点，线，面等形状物体的接触，位置分辨力可达２．２ｍｍ．     

具有触觉临场感和肌电仿生控制功能的遥控机械手研究

提出了一种结合触觉临场感和肌电仿生控制技术的遥控机械手控制方法．采集手臂皮肤表面的肌电信号（表面EMG）,结合AR模型和贝叶斯分类方法判断出手部的运动模式,控制机械手完成相应的动作．触滑觉组合传感器以压电材料PVDF为敏感体,安装于遥控机械手的手指上．机械手抓握或触摸物体时产生触滑觉,触滑觉信号经处理后通过电刺激来刺激操控人员,实现触觉临场感;操控者可根据触觉临场感来掌握自己的手部动作．实验表明,所提方法能提高遥控机械手的仿生控制能力．     

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。     

基于音波技术的时空双通道机器人触觉再现系统研究

介绍了一种基于音波播放的时空双通道机器人触觉再现系统.系统采用音波播放技术提供触觉再现所需要的电流刺激信号和空间触点选通信号.时间通道的电流刺激控制信号和空间通道的触点选通信息均由音波处理软件根据系统需要预先设计生成.计算机声卡输出的双声道音波信号分别对应于时空两个通道的控制信息.上述信号进一步处理后将提供触觉再现刺激电流并选通相应触点.该触觉再现系统能够为操作者提供温和舒服的触觉感受.     

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．     

基于射流方法的几何图形触觉再现技术研究

针对触觉临场感技术中几何形状再现的问题,提出了基于射流触觉方法的几何图形触觉再现技术,论述了射流几何图形触觉临场感再现的原理,探讨了几何图形的触觉表达,并进行了相关实验验证.在实验的基础上,提出并讨论了关于几何图形再现的触觉满意度评估指标.     

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．     

Reduction of electrotactile perception threshold using subthreshold vibrotactile stimuli

Electrotactile Perception Threshold (EPT) is critical for designing electrotactile displays, which is the minimum amplitude of an electrical stimulus that can be perceived. A significant concern in electrotactile displays is skin irritation and burns due to prolonged electrical stimulus with high amplitude. This study aims to propose a method for reducing the EPT using a background stimulation with a vibrotactile display at subthreshold: 90% of the Vibration Perception Threshold (VPT) at 235 Hz. A psychophysical experiment was conducted to measure EPT at the middle of the left forearm with and without the vibrotactile display using the staircase method. A reduction of 3 to 5% in EPT was observed, which can be further enhanced with varying study parameters. In addition, the comfort and safety aspects of the user’s assessment have been analyzed. Electrotactile stimulations have a higher Steven’s power exponent (1.51). Hence a reduced threshold (although it’s only 3 to 5%) would be perceptually significant and advantageous for sensory substitution and rehabilitation (vision, auditory, and gustatory).     

Sound Localization During Head Movement Using an Acoustical Telepresence Robot: TeleHead

Using our developed acoustical telepresence robot, TeleHead, we have so far confirmed that not only stationary binaural features, but also dynamic cues from head movement play important roles in sound localization. In this study, aiming towards the realization of an ideal acoustical telepresence robot, we clarify the relation between the head movement and the accuracy of sound localization in sound localization experiments. We examined two factors related to head movement that should have an impact on sound localization accuracy: observation from multiple postures and dynamic information during head movement. The results suggest that both factors improve the accuracy of sound localization in experiments. Moreover, even when we can use only one of these factors, the accuracy of sound localization is almost the same as the subject's original accuracy. The results confirm that even under very bad communication, control and head-shape conditions, the synchronization of head movement is important for building an acoustical telepresence robot. They also point to the possibility of building an acoustical telepresence robot with a dummy head of a general shape. This is meaningful from the viewpoint of engineering. In addition, it suggests the strong robustness of the human sound localization function.     

一个新的力觉临场感系统模型

本文提出了一个新的力觉临场感系统模型，讨论了它的二端口网络结构，推导了相应的网络特性参数，分析了参数的含仪和测量方法。此外，对理想系统的参数也进行了分析，本文的研究为临场感技术的发展提供了基础。     

基于虚拟现实的临场感遥控作业系统的研究动向

本文阐述了虚拟现实技术在临场感遥控作业系统中的研究和应用背景、状况和 内容．综述了临场感遥控作业虚拟现实系统的最近进展．重点介绍了它在监控和协作控制、 劣质视觉反馈的遥作及具有通信时延的遥作方面的研究动向．指出临场感遥控作业虚拟现实 系统是今后临场感技术研究和发展的主潮流,并对我国今后在这方面的研究应遵循的基本原 则提出了建议．     

虚拟现实力觉临场感遥控作业系统的研究进展

本文阐述了虚拟现实技术在力觉临场感遥控作业系统中的研究和应用背景、状况和主要内容,综述了虚拟现实力觉临场遥控作业实系统的国内外最近研究进展,并介绍了目前研究亟需解决的关键技术,指出虚拟现实力觉临场感遥控作业系统的研究对临场感技术以至于非确定性环境下作业的第三代机器人的发展有着非常重要的理论意义和应用价值。     

Computer graphics – more than beautiful images

Computers are being used more and more to model, simulate and render parts of the real or an imaginary world, and due to the importance of visual information for humans, computer graphics is at the very core of the technologies enabling the modern information society. New and emerging technologies such as multimedia, digital television, telecommunication and telepresence, virtual reality, or 3D Internet further indicate the tremendous potential of computer graphics in the years to come. Typical for the field is the coincidence of very large data sets with the demand for fast (if possible interactive) high-quality visual display of the results. Furthermore, the user should be able to interact with the environment in a natural and intuitive way.     

Communication capability of telepresence system with the miniature humanoid MH-2

Recently, several different types of telepresence robots have been developed. Their ability to communicate with a person in a remote location has been analyzed to achieve rich communication, including the presence of an operator. These studies focused on human-sized robots, small-sized non-humanoid robots, or small-sized humanoid robots without human-like proportions. A small-sized humanoid robot with human-like proportions has not been studied because of the absence of such a small humanoid. It should be noted that human-like proportions play a very important role in enhancing the presence of an operator through an avatar. In our previous work, a small-sized humanoid robot named MH-2 was developed for wearable telepresence system. The MH-2 consists of seven degrees-of-freedom (7-DOF) arms, a 3-DOF head, and a torso scaled according to human-like proportions. Wire–pulley mechanisms were employed to achieve a compact design to adopt a requirement for wearability. In this work, a telepresence system is introduced for the evaluation of the communication ability of the MH-2. In the experiment, Skype, using a flat display, was compared with the MH-2. The “Indian Poker” game was employed for the experiment. It is an ideal evaluation platform because it is a psychological game that requires careful observations among the players. The evaluations were conducted in terms of six aspects: emotion or personality, line of sight, familiarity, presence, enjoyment, and smoothness of the game progress. The experimental results showed that the MH-2 performed positively in two out of six aspects, namely the line of sight and smoothness of the game progress. On the other hand, facial expressions play important role to display individual presence. From a comprehensive standpoint, the MH-2 demonstrated good capabilities for rich remote communications.     

A characteristic set method for ordinary difference polynomial systems

We prove several basic properties for difference ascending chains, including a necessary and sufficient condition for an ascending chain to be the characteristic set of its saturation ideal and a necessary and sufficient condition for an ascending chain to be the characteristic set of a reflexive prime ideal. Based on these properties, we propose an algorithm to decompose the zero set of a finite set of difference polynomials into the union of zero sets of certain ascending chains. This decomposition algorithm is implemented and used to solve the perfect ideal membership problem, and to prove certain difference identities automatically.     

Scaling Kernel-Based Systems to Large Data Sets

In the form of the support vector machine and Gaussian processes, kernel-based systems are currently very popular approaches to supervised learning. Unfortunately, the computational load for training kernel-based systems increases drastically with the size of the training data set, such that these systems are not ideal candidates for applications with large data sets. Nevertheless, research in this direction is very active. In this paper, I review some of the current approaches toward scaling kernel-based systems to large data sets.     

Gröbner fan and universal characteristic sets of prime differential ideals

The concepts of Gröbner cone, Gröbner fan, and universal Gröbner basis are generalized to the case of characteristic sets of prime differential ideals. It is shown that for each cone there exists a set of polynomials which is characteristic for every ranking from this cone; this set is called a strong characteristic set, and an algorithm for its construction is given. Next, it is shown that the set of all differential Gröbner cones is finite for any differential ideal. A subset of the ideal is called its universal characteristic set, if it contains a characteristic set of the ideal w.r.t. any ranking. It is shown that every prime differential ideal has a finite universal characteristic set, and an algorithm for its construction is given. The question of minimality of this set is addressed in an example. The example also suggests that construction of a universal characteristic set can help in solving a system of nonlinear PDE’s, as well as maybe providing a means for more efficient parallel computation of characteristic sets.