Semi-Autonomous Bilateral Teleoperation of Hexapod Robot Based on Haptic Force Feedback

With the widespread use of multi-legged robots in various applications, new challenges have arisen in terms of designing their control systems, one of which is posed by the multiple degrees of freedom of the robotic legs. This paper proposes a novel method for the bilateral teleoperation control of a hexapod robot by using a semi-autonomous strategy. In this teleoperation system, the body velocities of the slave robot and the displacements of the master robot are mapped to each other. The angular velocities of the joints of the legs rely on independent planning to achieve a horizontal movement. A controller is designed based on the difference between the expected velocity and the actual velocity of the body, and the difference is fed back to the operator in the form of haptic force. Therefore, the transparency of the control system is guaranteed by increasing the damping compensation both in the master and slave robots. In addition, the stability of the bilateral teleoperation control system of the hexapod robot is guaranteed by passivity theory, and the proposed method is verified by conducting semi-physical simulation experiments.     

遥操作系统中力反馈研究与实现

力反馈的研究与实现是遥操作系统研究的重要内容之一。该文设计了一种带力反馈的主从式遥操作系统。在系统中提出以虚拟手指空间位姿代替实际力作用线方向上位移的计算和基于实际材料的虚拟力外推的方法。该方法以虚拟手指的位姿来计算虚拟力,以实验所得实际材料的数据作为索引进行虚拟力的外推。实验结果表明,和以往的考虑力和变形关系的力反馈研究相比,此力反馈系统不仅简单易行,同时保证了较高的精度和刷新率。     

力反馈柔性虚拟夹具辅助遥操作

针对未知环境遥操作的操作安全性与操作性能之间相互矛盾的问题,提出并实现一种力反馈柔性虚拟夹具方法.该方法通过引入柔性系数调节机器人倾向于期望运动方向的程度,将离线任务规划与操作者手动控制的优势相结合,在获得一定的操作性能的同时,具有避开离线任务规划路径中障碍的能力,保证了遥操作的安全性.在此基础上,将虚拟力反馈方法融合...     

Delayed Teleoperation with Force Feedback of a Humanoid Robot

Machine Intelligence Research - Teleoperation systems allow the extension of human capabilities to remote-control devices by providing the operator with conditions similar to those at the remote...     

Improved Four-channel PBTDPA Control Strategy Using Force Feedback Bilateral Teleoperation System

International Journal of Control, Automation and Systems - Bilateral teleoperation robots with force feedback enable humans to accomplish these tasks without exposing them to these hazardous...     

Using Haptic Feedback to Improve Grasp Force Control in Multiple Sclerosis Patients

We describe a simple and low-cost system that can help multiple sclerosis (MS) patients with asymmetric impairment to exert better grasp force control in manipulation tasks. The approach consists of measuring force vectors at the fingertips of the impaired hand, computing the force imbalance among the fingers, and providing corresponding haptic signals to the fingers of the opposite hand. Tests conducted on 24 MS patients indicated that for those with mild impairment, slightly better results were obtained with an “event-cue” feedback (ECF) that alerted them when the grasp forces were straying outside of a desirable range. For patients with more severe impairment, better results were obtained by providing a proportional signal, in which the frequency and duty cycle of vibration pulses were correlated directly with the magnitudes of the fingertip forces. Post-test surveys of the patients also indicated that mildly impaired subjects preferred an event-cue feedback, and more severely impaired subjects preferred the proportional feedback.      

A Virtual Simulation System for Ship Marine Auxiliary Boiler with Force and Haptic Feedback

Because of the limitation on the traditional training system for auxiliary boiler, a virtual simulation system is designed according to the actual situation and operational requirements of the real marine auxiliary boiler system. Based on force and haptic feedback, and Vega API, the proposed virtual simulation system uses PHANTOM Desktop as the interactive interface, applying 3DS MAX and Creator to construct the virtual environment. The system realized the human-computer interaction, and can satisfy the users＇ immersion of touch and vision, meeting the auxiliary boiler system operating and management training to some extent.     

Online Robot Reference Trajectory Adaptation for Haptic Identification of Unknown Force Field

International Journal of Control, Automation and Systems - In this paper, a novel online reference trajectory adaptation algorithm is developed, which aims to balance the interactive force and the...     

基于STM32的力觉反馈装置及用于主从遥操作实现

在遥操作系统中为了增强现实及实现本地力觉信号再现功能以提高精细化操作的目的 ,设计了用于人机交互功能的力反馈装置;该装置为单自由度结构,基于步进电机驱动;利用STM32微控制器采集触觉力信号以及关节位移信号,通过设计基于力误差的控制律调整位置变量实现输出力信号与标准力信号的匹配;为了验证该力反馈装置进行了标准力信号再现实验;并且利用该力反馈装置作为主机械手与单自由度从机械手搭建遥操作装置,进行了力、位置双边跟踪实验验证,实现了主、从机械手力、位置协同一致的目的.     

Neural-Network-Based Contact Force Observers for Haptic Applications

In the majority of robotic and haptic applications, including manipulation and human-robot interaction, contact force needs to be monitored and controlled. Transparent implementation of bilateral teleoperation or haptic controllers necessitates the exchange of operator and environment contact forces. This requires the use of expensive commercially available force/torque sensors, which are rather bulky, are vulnerable to impact forces, and increase system inertia and compliance. An alternative solution is the use of dynamic force observers, which estimate external forces using system dynamic model. However, due to the uncertainties in system dynamic structure and parameters, these model-based observers do not produce accurate force estimates, and often create a dynamic lag that may cause bandwidth limitation and instability. This paper proposes two neural-network-based force/torque observers that do not require a system dynamic model. The observers can estimate human hand force and environment contact force with up to 98.3% accuracy in the sense of mean-square error, and with negligible dynamic lag. The performance of the proposed observers are extensively analyzed in separate human-robot and robot-environment experimental settings, and in a two-channel bilateral teleoperation control loop with multiple runs with two Planar Twin-Pantograph haptic devices     

基于TCP/IP的远程触觉交互系统力反馈数据传输方法

时延、丢包是影响远程触觉交互性能和用户体验的重要因素。以实时传输和真实再现力反馈数据为目的,提出了一种基于TCP/IP的实时力反馈数据传输方法,该方法通过时延处理和插值预处理降低网络通信过程中对远程触觉感知造成的不利影响实验结果证明,该方法有效地解决了远程触觉交互系统中实时力反馈的信息再现与信息交互问题,在远程医疗、远程教学、虚拟现实等领域具有重要的应用价值。     

基于CHARMM力场的蛋白质分子场计算及触觉感知

分子场是研究分子结构与功能的重要工具之一,已经成为药物设计和分子对接的常规方法.由于触觉设备能提供丰富的感官信息,近年来触觉交互正逐渐成为该领域的研究热点.文中研究了蛋白质分子场的触觉感知.首先从蛋白质分子结构出发,基于CHARMM力场,经过分子动力学模拟采样计算得到蛋白质分子场;然后结合触觉设备建立触觉感知模型,通过视觉与触觉相结合的方式分析分子场能量分布以丰富分子场的感知信息;最后绘制触觉场景并给用户提供相关的视觉和触觉反馈.实验结果表明,文中提出的分子场计算方法鲁棒,且触觉系统能保持较好的稳定性.     

一种基于Internet 力觉临场感遥操作无源控制算法

将Internet技术引入到力觉临场感遥操作系统是目前一个具有广阔应用前景的研究方向。由此，针对基于Internet力觉临场感遥操作系统所面临的变时延稳定控制问题，提出了一种基于波积分传输的无源控制算法。经过仿真，证明本算法可保证系统的无源性，并获得较好的操作性。     

Aspects of Haptic Feedback in a Multi-modal Interface for Object Modelling

In our everyday life, interaction with the world consists of a complex mixture of audio (speech and sounds), vision and touch. Hence, we may conclude that the most natural means of human communication is multi-modal. Our overall research goal is to develop a natural 3D human-computer interaction framework for modelling purposes without mouse or keyboard and where many different sensing modalities will be used simultaneously and cooperatively. This article will focus on the various interface issues on the way to an intuitive environment in which one or more users can model their prototypes in a natural manner. Some technical framework decisions, such as messaging and network systems, will also be investigated.     

A Model-Based Controller for Interactive Delayed Haptic Feedback Virtual Environments

This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spread to force feedback teleoperators.     

基于人工势场的机器人遥操作安全预警域动态生成方法

为了避免机器人遥操作过程中,机器人与环境物体不必要的碰撞,以及解决"运动-等待"现象影响机器人系统安全性和效率的问题,提出了基于人工势场生成动态安全预警域的算法.该算法根据等势面原理生成的预警域既可以实时地检测机器人与环境物体的距离,又可以根据机器人的速度和加速度划定一个相对安全的区域,避免机器人在下一时刻因为速度过快与环境物体发生碰撞.最后搭建遥操作实验平台,进行了机器人在预警算法的辅助下快速抓取目标的实验.实验证明,该算法可有效提高远程机器人遥操作的安全性和效率.     

基于Internet力觉临场感遥操作控制系统现状

叙述了基于Internet力觉临场感遥操作系统的结构，网络通信时延的特点，指出网络时延对本系统的影响，介绍了网络时延下力觉临场感遥操作系统稳定性研究进展。     

空间力觉临场感遥控作业系统的时延无条件稳定性分析

空间遥控作业系统中存在很长的通信时延,造成遥控作业系统的不稳定和操作性能的降低,为此,从建立力觉临场感遥控作业系统的时延动力学方程出发,利用差分微分方程对系统的无条件稳定性进行分析,实验结果表明该分析方法是行之有效的。