Tactile and Chemical Sensing With Haptic Feedback for a Telepresence Explosive Ordnance Disposal Robot
Tactile and Chemical Sensing With Haptic Feedback for a Telepresence Explosive Ordnance Disposal Robot
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DOI：
10.1109/tro.2023.3278455
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发表时间：
2023-10
影响因子：
7.8
通讯作者：
Chenxi Xiao;A. Woeppel;Gina M. Clepper;Shengjie Gao;Shujia Xu;Johannes F. Rueschen;Daniel Kruse;Wenzhuo Wu;H. Tan;Thomas Low;S. Beaudoin;B. Boudouris;William G. Haris;J. Wachs
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文献类型：
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作者：
Chenxi Xiao;A. Woeppel;Gina M. Clepper;Shengjie Gao;Shujia Xu;Johannes F. Rueschen;Daniel Kruse;Wenzhuo Wu;H. Tan;Thomas Low;S. Beaudoin;B. Boudouris;William G. Haris;J. Wachs
机器人可用于降低不安全和严峻环境中的风险。近年来，爆炸物处理机器人减少了技术人员的目标时间，从而减少了直接暴露风险。本文着重于研究和开发创新技术，作为一个新的机器人平台的基础工作。所提出的系统包括一个有机电化学晶体管设备，以检测爆炸残留物的存在，并导致安全拆除进度的决定。Taurus的手术夹持器便于物体的触觉探索和操作，控制精度达到毫米级。高灵敏度的摩擦电触觉传感器可以减少接触过程中的侵入性，并降低爆炸的风险。触觉设备和视觉显示器用于传达重要信号，以提高遥操作者的态势感知能力。机器学习分类器可以用于帮助用户从触觉采样中识别对象。这些方法的集成允许对只能通过触觉传感访问的隐藏对象进行敏感的处理。
Robots can be used to mitigate risks in unsafe and austere settings. In recent years, explosive ordnance disposal robots have reduced the technician's time-on-target, and thus, reduce the direct risk of exposure. This article focuses on the study and development of innovative techniques as the foundational work for a new robot platform. The proposed system includes an organic electrochemical transistor device to detect the existence of explosive residues, and lead to decisions for safe-removal progress. Taurus' surgical gripper facilitates object tactile exploration, and manipulation with control precision to the millimeter range. The highly sensitive triboelectric tactile sensor could reduce intrusiveness during contact, and mitigate the risk of detonation. Haptic devices and visual displays are used to convey important signals, in order to improve the situational awareness of the teleoperator. A machine learning classifier can be used to assist the user to identify objects from tactile sampling. The integration of these methodologies allows for a sensitive approach to concealed objects that are only accessible through tactile sensing.