人机交互力觉临场感遥操作机器人技术研究

 人机交互式机器人是当前机器人学研究的前沿和热点之一,而临场感(telepresence)技术是人与机器人交互的核心。本文通过阐述力觉临场感遥操作机器人技术的产生、发展和现状,介绍了力觉临场感遥操作机器人的系统组成,指出力觉临场感遥操作机器人面临的3 个难题:力感知、力反馈和大时延力控制。针对以上问题,对力觉临场感遥操作机器人的四大关键技术:传感技术、力反馈与触觉再现技术、大时延控制技术、虚拟预测环境建模技术进行了综述;介绍了东南大学仪器科学与工程学院机器人传感与控制技术研究所30 年来开展人机交互遥操作机器人技术研究的进展及其在核探测、康复医疗领域应用的情况。展望了人机交互力觉临场感遥操作机器人技术未来研究与发展的重点。

Research on human-robot interaction telerobot with force telepresence

Human-robot interaction telerobot is currently a frontier and hot-point of robotics research. Telepresence is a core technique of the human-robot interaction. In this paper, we review the history of the telepresence telerobot technology, and illustrate the architecture of the telepresence telerobot system. There are three foundmental problems in force telepresence telerobot research:force perception, force feedback, and force control under time delay. Then we discuss its four key techniques, that is, sensing technique, force feedback and tactile display technique, control strategy under time delay, and predictive virtual environment modeling. We briefly introduce the development of telepresence telerobot research and its applications to nuclear detection and rehabilitation therapy areas at Southeast University during the past two decades. At last, we point out some future research directions of the human-robot interaction telerobot with force telepresence.