An EMG enhanced impedance and force control framework for telerobot operation in space
An EMG enhanced impedance and force control framework for telerobot operation in space
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DOI：
10.1109/aero.2014.6836500
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发表时间：
2014-03
期刊：
影响因子：
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通讯作者：
Ning Wang;Chenguang Yang;Michael R. Lyu;Zhijun Li
中科院分区：
文献类型：
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作者：
Ning Wang;Chenguang Yang;Michael R. Lyu;Zhijun Li
遥操作是机器人技术和通信技术现代发展的融合点。这两种传统应用（例如，采矿）和新兴领域（例如，显微外科手术）受益于远程机器人系统的进步。遥操作机器人系统结合本地操作员和远程自主机器人，可以最佳地利用操作员的智能和机器人的自动化。在远程操作场景中，力和位置信号的交换，即，触觉反馈可以极大地扩展人类操作员在远程环境中通过机器人进行复杂工作的能力。然而，长距离通信通常会受到由通信信道固有特性引起的时延问题的影响。触觉信号的延迟传输可能导致闭环遥操作机器人控制系统的不稳定。虽然在控制界已经作出了很大的努力，以克服这一困难，许多方法，如波散射，被动性，小增益定理已被用作可能的解决方案，在触觉遥控机器人控制的稳定性仍然是一个挑战。已经注意到，人类的神经路径也受到传输延迟的影响。我们知道，在感觉反馈通路存在时间延迟的情况下，人类的神经控制可以很容易地保持稳定，甚至在不稳定的交互场景中表现出上级的操纵技能。已经发现并报道，通过很好地调节机械阻抗，即，对强制运动的阻力，这主要是由肌肉的类似弹簧的特性造成的。
Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles.