Grip-force control of an elastic object by vision-based slip-margin feedback during the incipient slip

In this paper, a grip-force control of an elastic object is proposed based on a visual slip-margin feedback. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip," occurs on the contact surface. The slip margin between an elastic object and a rigid plate is estimated based on the analytic solution of a Hertzian contact model. A one-degree-of-freedom gripper consisting of a camera and a force sensor is developed. The slip margin can be estimated from the tangential force measured by a force sensor, the deformation of the elastic object and the radius on the contact area both measured by a camera. In the proposed method, the friction coefficient is not explicitly needed. The "eccentricity" is used to estimate the displacement of the elastic object at the contact area with high accuracy. The grip force is controlled by a direct feedback of the estimated slip margin. The proof of the contact stability by the proposed control is analytically given. As a result, the slip margin is maintained at a desired value, without occurring the gross slip against a disturbance traction force to the object. The validity of the proposed method is confirmed by experiments.     

A novel model for assessing sliding mechanics and tactile sensation of human-like fingertips during slip action

This paper presents a model for displaying friction and localized stick/slip of sliding inhomogeneous human-like fingertips, to understand how slippage occurs and its role in assessing tactile sensing mechanics. In the absence of friction, the fingertip slides, as on an ice surface, in the virtual world of haptic interfaces. Slippage of fingertip at very low velocity can reflect micro stick/slip on a contact area, which is challenging to represent in any friction model. To overcome these drawbacks, we propose that a Beam Bundle Model (BBM) can be used to model a human fingertip during pushing and sliding actions, especially during stick-to-slip transition. To construct its three-dimensional, non-homogeneous structure, we obtained a sequential series of magnetic resonance images, showing consecutive cross-sectional layers of a fingertip with distribution of skin, tissue, bone, and nail. Simulation results showed that this model could generate not only normal force distribution caused by pushing, but also response of friction during stick-to-slip transition. Secondly, and more interestingly, the model dynamically produced localized displacement phenomena on the contact area during stick-to-slip phase, indicating how slippage enlarges the contact area prior to total slippage of the fingertip. These findings may better assess the sliding processes of human fingertips, and how and when slippage occurs on the contact surface. This model may be a useful platform for studying tactile perception of fingertips.     

Friction model of fingertip sliding over wavy surface for friction-variable tactile feedback panel

A friction-variable touch panel is capable of presenting virtual bumps and holes on its flat surface through the control of the surface friction when a fingertip slides over it. To improve the presentation, we developed a friction model of a fingertip sliding over a sinusoidal surface with an amplitude of 0.5–2.5 mm and a spatial wavelength of 20–50 mm. When a metal ball rolls over a wavy surface with a low friction and contact area, the ratio of the horizontal force to the normal force is equal to the gradient of the surface (this is referred to as the ball bearing model) and is hardly affected by the normal load and rolling speed. In contrast, the profile of the force ratio of a sliding finger is substantially skewed and affected by the sliding direction and normal force exerted by the finger. To model this skewed force ratio, we formulated the asymmetric pressure distribution in the finger-surface contact area and used the effects of the adhesion friction to model the dependency of the force ratio on the normal force and sliding direction. The developed model of a bare finger with these features was found to sufficiently simulate the experimentally observed force ratios. The model can be easily applied to friction-variable touch panels and enables the achievement of a wide variety of haptic contents with macroscopically concave or convex surfaces.     

Nonlinear viscoelastic contact and deformation of freeform virtual surfaces

This article is concerned with the haptic deformation display of discrete viscoelastic surfaces by means of a human fingertip. The virtual surface of a deformable quadrilateral mesh is interactively deformed by a Kelvin–Voigt soft fingertip model attached to the end-effector of a haptic interface device. In achieving this task, a nonlinear constitutive model approximating experimental data from literature is developed for determining the contact point deformations. By employing a new kernel weighting function, the deformations are distributed dependently on the discrete surface topology based on a nonlinear spring–damper net around the contact location. For illustration and evaluation of the proposed approach, a parallel robotic device with a constraint-based controller is adopted. The grip of the device is moved by the user to feel a sense of touch as the soft fingertip deforms the mesh surface of an ex vivo porcine liver tissue. Experimental data indicates stable realistic interactions thorough mechanical coupling between the soft fingertip and the deforming liver tissue. Dynamic response data of liver show rate-dependent hysteretic deformations and match closely with experimental indentation data from literature. A thorough analysis of mesh node count on the sample rate and the rendering quality is also presented.     

基于图像的介入器械前端变形建模与受力估计

目的 血管介入手术中介入器械与血管壁之间的接触力对手术安全有着重要意义,然而目前缺乏直接测量器械前端与血管壁接触力的传感器和有效手段。为解决这一难题,本文提出了一种通过图像观察器械前端变形程度从而估计器械与血管壁接触力的方法。方法 通过模拟血管介入手术过程来获取介入器械导丝的变形量和与之相对应的力,从而对介入器械前端接触力与变形量关系进行建模。将介入器械前的端接触力分为垂直于接触面方向的力和沿着接触面方向的力并分别加以处理;使用介入器械前端变形段的最大曲率变化量描述器械变形量,通过图像观察导丝变形来计算导丝的最大曲率。为求解最大曲率,使用器械上3个点构成的三角形并求其外接圆曲率来表示这3点所在段的曲率,在介入器械前端进行依次遍历求取最大值以获得最大曲率。通过实验分析验证介入器械受力与最大曲率之间的关系。结果 实验表明介入器械前端的接触力与器械前端最大曲率变化率之间存在着映射关系,且这种关系能用函数表达式准确地表达出来,通过函数式来预测受力的平均误差在10%以内。结论 研究表明,通过图像分析导丝前端的变形量、估计导丝前端接触力,进而判断血管手术过程中介入器械与血管壁的接触状态的方法是可行...     

A method of vertical and horizontal force estimation by using air-filled material and camera for soft physical human-robot interaction: fundamental experiments

A method of vertical and horizontal force estimation for soft physical human–robot interaction by using an air-filled material and a camera was proposed in this study. First, we considered hypotheses for vertical and horizontal force applied to the air-filled material. Second, the prototype of air-filled material and vision-based force-sensing device (AVFSD) was constructed. Based on the result of preliminary experiments, the relationships between force, pneumatic pressure, and contact surface displacement were formulated. The vertical and horizontal force could be estimated using the AVFSD with percentage errors of 3.6 and 5.8%, respectively, and the hypotheses were verified through the experiments.     

Providing force feedback in virtual environments

An integral part of successfully manipulating objects is the sensation of touch or force. Experiments with telerobots (robots controlled at a distance) show that the sensation of force and contact improves the efficiency and accuracy of such tasks. Many believe that the same can be said of tasks in a virtual environment. Unfortunately, it is not possible to actually grasp a virtual object in the same manner as you would a real object because virtual objects are defined in the computer, while the user exists in the real world. Thus, there must be some intermediate device that provides the user with the effects of touch, either through the virtual environment itself or in a physical model of the object, which then communicates information to the virtual environment and displays the virtual object to the user. At the University of Tokyo, we are experimenting with surface display, a method that allows users to directly manipulate an object in a virtual environment by touching a physical model of the object's surface as presented by an intermediate device outside the computer. We have created a prototype of such a device that measures the force exerted on the surface. We have also implemented control and calculation methods, and have evaluated both the device and the methods in experiments with users. These experiments have validated the concepts underlying our work, and we are continuing to investigate implementation issues     

A virtual 3D interactive painting method for Chinese calligraphy and painting based on real-time force feedback technology

A novel 3D interactive painting method for Chinese calligraphy and painting based on force feedback technology is proposed. The relationship between the force exerted on the brush and the resulting brush deformation is analyzed and a spring-mass model is used to build a model of the 3D Chinese brush. The 2D brush footprint between the brush and the plane of the paper or object is calculated according to the deformation of the 3D brush when force is exerted on the 3D brush. Then the 3D brush footprint is obtained by projecting the 2D brush footprint onto the surface of the 3D object in real time, and a complete 3D brushstroke is obtained by superimposing 3D brush footprints along the painting direction. The proposed method has been successfully applied in a virtual 3D interactive drawing system based on force feedback technology. In this system, users can paint 3D brushstrokes in real time with a Phantom Desktop haptic device, which can effectively serve as a virtual reality interface to the simulated painting environment for users.     

一种具有重力补偿的串联弹性执行器接触力控制方法

针对机械臂末端安装串联弹性执行器(Series Elastic Actuator,SEA)与环境或工件接触作业工况,考虑SEA端部负载对接触面压力随机械臂运动姿态变化的问题,研究一种具有重力补偿的SEA接触力控制方法。首先分析了一种基于滚珠丝杆模组的SEA与Staubli TX90 组合的力控制实验装置结构,建立了SEA与工件接触过程的动力学模型,提出了一种具有输入重力补偿的PD型SEA弹簧力控制方法,该方法在没有接触力传感器的情况下,依据机械臂关节角对SEA端部负载进行重力输入补偿,通过检测弹簧压缩变形量,计算并反馈弹簧力实现对接触力的控制。最后通过SEA与正弦面工件接触力控制实验,并对力传感器采集的接触力信号进行频谱分析,验证了所提出控制方法的有效性。     

基于水平集的3D左心室表面重建

提出了基于分层2D MRI图像重建3D左心室表面的算法．分层2D MRI图像能够跟踪左心室边界在成像平面内的变形,但由于缺少层问数据,层间边界形变的信息难以获取．为了重建左心室的形状,使用基于形变模型的方法：首先建立变形曲面的动力学方程;再将成像坐标系中的图像平面映射到重建坐标系,根据图像数据构造外力,使用平均曲率构造变形曲面的弹性力,然后用水平集数值解法求解动力学方程以重建左心室的表面．实验结果证明了算法的有效性．     

Rolling Contact Motion Generation and Control of Robotic Fingers

Dexterity in human hand is connected with the fingertip rolling ability. In this work we consider rolling motion of spherical robotic fingertips as one of the control objectives together with the set point position control and force trajectory tracking. The generation of a rolling motion trajectory is proposed and a control solution is designed which achieves prescribed transient and steady state tracking behavior. The proposed control law is structurally and computationally simple and does not utilize the dynamics of the robot model or its approximation. A simulation of a five degrees of freedom robot show excellent contact rolling performance even at cases of adverse friction conditions while alternative controllers lead to contact sliding. Experiments with a KUKA LWR4 + are performed to validate the proposed method.     

Design of an optical soft sensor for measuring fingertip force and contact recognition

Among the various ways to estimate user intention in hand exoskeletons, a contact force measurement is definitely the most straightforward and intuitive method. A force sensor, located at the center of a fingertip usually, hinders the tactile sensation of the user by blocking the contact between an object and the fingertip. To overcome this problem, a soft force sensor with horse shoe shape is utilized to measure the contact force and provide the tactile sensation to the user. This work presents the mechanical design, implementation and evaluation of a soft fingertip force sensor. To maximize tactile sensation of the user, we adopted a horse shoe shape structure to leave the finger pad exposed. An optical sensing mechanism was selected for its relatively fast response compared to other soft sensors. The whole sensor system has a soft exterior providing flexibility and a user-friendly interface. To evaluate the sensor’s performance, we carried out sensor optimization process and calibration experiment with a customized test bed. Then, we investigated both static and dynamic response and observed the mechanical behavior and light intensity changes caused by the cross sectional shape and base/agent ratio of PDMS. Lastly, we applied the proposed sensor to the glove type fingertip force monitoring system. The sensor estimates the index finger tip force with high accuracy (R ² = 0:96) within 5N range.     

Device level studies of adaptive optics sliding components in microprojectors

Integrated microprojectors are being developed to project a large image on any surface chosen by users. For a laser-based microprojector, a piezo-electric based adaptive optics unit is adopted in the green laser architecture. Nanolubrication of adaptive optics sliding components is needed to reduce friction and for stick–slip motion. Previous studies of the role of lubricant film thickness in nanolubrication of sliding components in adaptive optics have been carried out in an academic, coupon level fashion and need to be carried out on a device level in order to characterize the role of lubricant film thickness in an actual working device. In this paper, the effect that operating temperatures have on lubricant film thickness, adhesive force and coefficient of friction of used devices is investigated. The results and associated mechanisms are presented and compared with previous coupon level tests to show that the proposed AFM measurement techniques can be employed in other micro devices in which adhesion, film thickness, and coefficient of friction measurements are of interest.     

Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation

We propose a straightforward static elastic model of a hemispherical soft fingertip undergoing large contact deformation, as occurs when robotic hands with the fingertips handle and manipulate objects, which is suitable for the analysis of soft-fingered manipulation because of the simple form of the model. We focus on formulating elastic force and potential energy equations for the deformation of the fingers which are represented as an infinite number of virtual springs standing vertically. The equations are functions of two variables: the maximum displacement of the hemispherical fingertip and the orientation angle of a contacting planar object. The elastic potential energy has a local minimum in our model. The elastic model was validated by comparison with results of a compression test of the hemispherical soft fingertip     

FORCE/POSITION SLIDING-MODE CONTROL OF A ROBOT MANIPULATOR IN A NON-RIGID ENVIRONMENT

This paper proposes a sliding-mode force/position controller for a robot manipulator in contact with an isotropic and homogenous environment with upper-bounded uncertain stiffness. The sliding-mode controller design is based on a contact force model linear with the environment deformation. Measurement of the derivative of the contact force is not needed. The sliding vector is chosen on purpose to enable the system to initially be located in the sliding mode so as to avoid undesired transient behavior.     

水下机器人手爪力感知系统研究

提出了一种水下机器人手爪力感知系统的组成结构,该力感知系统由一个六维力/力矩传感器和三指夹持器指端的三个指力传感器组成,本文介绍了上述两种传感器的设计和标定,并对利用该手爪系统抓取物体进行了实际测试和分析,实验结果表明;所设计的力感知系统能够实时地感知腕力和夹持力信息,可以满足机械手力控制的需要.     

用于触摸屏交互的可穿戴指端力反馈系统设计

力触觉再现技术在增强用户与触摸屏交互的真实感和沉浸感方面发挥着越来越重要的作用,设计了一种面向触摸屏图像信息感知的可穿戴指端力反馈装置。设计基于线绳牵引驱动的指端力反馈机构,将装置分为驱动和可穿戴部分,使其具备小巧、轻便、易佩戴的特点。设计测控系统,实现了输出反馈力的检测和控制。研究图像信息提取和力触觉建模算法,获取图像中物体的三维特征信息,配合力反馈装置和测控系统实现图像纹理高度、外形轮廓信息再现反馈。实验结果表明,该装置最大可以提供5.3 N的反馈力,能够帮助用户感知触摸屏中图像的高度和形状信息。     

超声在机测厚接触力控制方法研究

针对接触式超声在机自动测厚中可靠接触难题,提出了超声探头与被测工件之间接触力控制方法,制定了基于接触力实时反馈的闭环控制策略,建立法向接触力计算模型,设计了接触力调控量向机床位移校正量转化的阻抗模型与接触力滑模变结构控制器,在Simulink环境下对控制模型进行了数值仿真,验证了算法有效性,可实现超声在机测厚中恒定接触力精确跟踪控制。在所研制的测量系统中进行了测量实验,结果表明超声在机扫描测厚接触力控制误差在4N以内,实现了超声在机自动扫描测量过程中的接触状态保持,保证超声传感器输出信号稳定,测厚误差明显减小。     

一种基于结构匹配的指纹匹配算法

提出了一种基于结构匹配的指纹匹配算法,不仅考虑了指纹的全局特性而且利用了指纹局部结构的平移和旋转不变性。该算法可克服在采集指纹图像时由于非线性形变所引起的细节点的位置、细节点的方向及指纹图像中细节点之间距离改变产生的影响,降低了匹配算法的拒识率。试验结果表明所提出的方法确实提高了指纹匹配算法的有效性。     

Fingerprint warping using ridge curve correspondences

The performance of a fingerprint matching system is affected by the nonlinear deformation introduced in the fingerprint impression during image acquisition. This nonlinear deformation causes fingerprint features such as minutiae points and ridge curves to be distorted in a complex manner. A technique is presented to estimate the nonlinear distortion in fingerprint pairs based on ridge curve correspondences. The nonlinear distortion, represented using the thin-plate spline (TPS) function, aids in the estimation of an "average" deformation model for a specific finger when several impressions of that finger are available. The estimated average deformation is then utilized to distort the template fingerprint prior to matching it with an input fingerprint. The proposed deformation model based on ridge curves leads to a better alignment of two fingerprint images compared to a deformation model based on minutiae patterns. An index of deformation is proposed for selecting the "optimal" deformation model arising from multiple impressions associated with a finger. Results based on experimental data consisting of 1,600 fingerprints corresponding to 50 different fingers collected over a period of two weeks show that incorporating the proposed deformation model results in an improvement in the matching performance.