| 带有力觉和触觉临场感的灵巧手主从系统的设计 |
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| 引用本文： | 陈辉,宋爱国,金世俊,黄惟一.带有力觉和触觉临场感的灵巧手主从系统的设计[J].机器人,1998,20(6):437-441. |
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| 作者姓名： | 陈辉 宋爱国 金世俊 黄惟一 |
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| 作者单位： | 东南大学仪器科学与工程系 |
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| 基金项目： | 国家高技术航天领域863－2基金－7资助 |
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| 摘 要： | 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．
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| 关 键 词： | 多指灵巧手 触觉临场感 力觉临场感 |
MASTER AND SLAVE SYSTEM DESIGN OF A DEXTEROUS HAND WITH FORCE AND TACTILE TELEPRESENCE |
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| CHEN Hui\,SONG Aiguo \,JIN Shijun \ HUANG,Weiyi.MASTER AND SLAVE SYSTEM DESIGN OF A DEXTEROUS HAND WITH FORCE AND TACTILE TELEPRESENCE[J].Robot,1998,20(6):437-441. |
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| Authors: | CHEN Hui\ SONG Aiguo \ JIN Shijun \ HUANG Weiyi |
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| Abstract: | In teleoperated tasks, the operators usually lack force and tactile telepresence. In order to solve this problem, this paper introduces a system for dexterous hand with force and tactile telepresence. The problems about sensing and reproduction of tactile and force are discussed.We present some new methods to reproduce tactile using fuzzy control and to reproduce force using new force feedback position structure .Finally,the experimental result is gived. |
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| Keywords: | Dexterous hand tactile telepresence force telepresence |
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