力觉临场感遥操作机器人技术研究进展

人机交互式机器人作为最具实用价值的特种机器人已成为当前机器人学研究的前沿和热点.临场感(telepresence)技术是人机交互的核心.对临场感遥操作机器人技术的发展和现状作了回顾,对力觉临场感谣操作机器人的三大关键技术:传感技术、力反馈与触觉再现技术、大时延下的虚拟预测环境建模技术等进行了综述；对临场感遥操作机器人技术的最新前沿即基于生物电信息的人机交互技术进行了介绍；最后并介绍了东南大学仪器科学与工程学院机器人传感与控制研究所近10年来开展临场感遥操作机器人技术研究及应用所取得的成果.

The Development of Force Telepresence Telerobot Technique

Human-robot Interaction robot is currently the frontier and hot of the robotics research.Telepresence is core technique of the human-robot interaction.In this paper,we review the history of the telepresence telerobot technology and analyze its three basic techniques,that is sensing technique,force feedback and tactile display technique,predictive virtual environment modeling under time delay.Then,we briefly discuss the biological electricity based human-robot interaction as the current research hot of telepresence teleoperation.At last,we introduce the development of telepresence telerobot research in Robot Sensor and Control Institute at Southeast University during the past decade.