Force sensing from human demonstration using a hybrid dynamical model and qualitative reasoning
Force sensing from human demonstration using a hybrid dynamical model and qualitative reasoning
复制标题
使用混合动力学模型和定性推理从人体演示进行力感测
DOI：
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发表时间：
1994
期刊：
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通讯作者：
B. McCarragher
中科院分区：
文献类型：
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作者：
B. McCarragher
本文提出了一种分析力的数据，是由一个复杂的和不对称的插入任务的人类示范。人类被蒙上了眼睛。并且只有力传感器（即手指）可用。该过程采用混合动力学建模，突出了接触的变化作为装配过程的重要组成部分。然后将定性推理应用于力信号以识别力信号中对应于接触的获得或失去的那些部分。本文的重点是了解由人体主体产生的力信号。结果表明，定性推理是一种简单、高效、有效的手段，通过识别接触状态的变化来理解力信号。定性推理也被证明是适合于自动化工业装配。<<ETX>>
This paper presents an analysis of force data that was generated by a human demonstration of a complex and asymmetrical insertion task. The human was blindfolded. And only had force sensors (i.e. fingers) available. The process is modelled using hybrid dynamics which highlighted the changes in contact as the essential parts of the assembly process. Qualitative reasoning is then applied to the force signals to identify those portions of the force signals that corresponded to either a gain or a loss of contact. The emphasis of the paper is to understand the force signals generated by the human subject. It is shown that qualitative reasoning proves to be a simple, efficient and effective means to understand the force signal by identifying the changes in contact state. Qualitative reasoning is also shown to be suitable for automated industrial assembly.<<ETX>>