Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems
Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems
复制标题
DOI：
10.1177/0278364915603135
复制
发表时间：
2015-12-01
影响因子：
9.2
通讯作者：
Prattichizzo, D.
中科院分区：
文献类型：
--
作者：
Pacchierotti, C.;Meli, L.;Prattichizzo, D.
皮肤触觉反馈可以用来提高机器人遥操作系统的性能，同时保证其安全性。向人类操作员传递未接地的皮肤线索实际上传达了关于在从侧施加的力的信息，并且不影响控制回路的稳定性。在这项工作中，我们分析的可行性，有效性，并在机器人遥操作提供单独的皮肤反馈的影响。我们进行了两个钉孔实验，无论是在虚拟环境中，并在一个真实的（遥控）环境。两种新型的3自由度指尖皮肤显示器在拇指和食指处提供适量的皮肤反馈。结果评估所提出的方法的可行性和有效性。皮肤反馈优于接地触觉接口提供的完全触觉反馈，但它优于根本不提供力反馈的条件。此外，皮肤反馈始终保持系统稳定，即使在存在不稳定因素，如通信延迟和硬接触。
Cutaneous haptic feedback can be used to enhance the performance of robotic teleoperation systems while guaranteeing their safety. Delivering ungrounded cutaneous cues to the human operator conveys in fact information about the forces exerted at the slave side and does not affect the stability of the control loop. In this work we analyze the feasibility, effectiveness, and implications of providing solely cutaneous feedback in robotic teleoperation. We carried out two peg-in-hole experiments, both in a virtual environment and in a real (teleoperated) environment. Two novel 3-degree-of-freedom fingertip cutaneous displays deliver a suitable amount of cutaneous feedback at the thumb and index fingers. Results assessed the feasibility and effectiveness of the proposed approach. Cutaneous feedback was outperformed by full haptic feedback provided by grounded haptic interfaces, but it outperformed conditions providing no force feedback at all. Moreover, cutaneous feedback always kept the system stable, even in the presence of destabilizing factors such as communication delays and hard contacts.