Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber
Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber
复制标题
开发通过电刺激感觉神经纤维来体验机器人手触觉的系统
DOI：
10.1109/robot.2003.1241766
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
K. Mabuchi
中科院分区：
文献类型：
--
作者：
M. Shimojo;Takafumi Suzuki;A. Namiki;T. Saito;M. Kunimoto;R. Makino;H. Ogawa;M. Ishikawa;K. Mabuchi
通过神经系统尝试将人类和机械系统融合的研究是接口技术中最具活力的领域之一。最近，人工耳蜗和视网膜神经通过神经系统连接起来。然而，还没有关于通过连接到触觉感觉神经系统的人工传感器替代人类触觉的报道。本研究报告了一种系统的开发，该系统能够通过微刺激方法感知施加在机器人手上的触摸力度，并将其施加到人类操作员的手上。操作员通过网络在远程位置控制配备有触觉传感器的机器人手的抓取动作。物体与机器人手之间的接触信息通过网络传输，操作员的触觉感觉神经由微电极刺激。施加在机器人手上的力能够被感知为施加在人类操作员手上的力。所提出的系统的应用包括在远程操作中呈现触觉感知。此外，所提出的系统是一种从假肢传递感觉的有效方法。本文描述了实验系统和结果。
Research attempting to merge human and mechanical systems through a nervous system is one of the most dynamic fields in interface technology. Recently, artificial cochlear and retinal nerves were connected via a nervous system. However, there has been no report concerning the replacement of human tactile sensation by artificial sensors connected to the tactile sensory nerve system. The present study reports the development of a system which enables the touch strength applied to a robot hand to be sensed and applied to the hand of a human operator via the microstimulation method. The operator controls the grasping action of a robot hand equipped with tactile sensors at a remote location via a network. The contact information between an object and the robot hand is transmitted via the network, and the tactile sensory nerve of the operator is stimulated by a microelectrode. The force applied to the robot hand can be sensed as an applied force to the hand of the human operator. Applications of the proposed system include the presentation of tactile perception in remote manipulation. In addition, the proposed system is an effective method for transmitting sensation from artificial limbs. The present paper describes the experimental system and results.
使用视觉和力反馈进行高速抓取
DOI：
--
发表时间：
1999
期刊：
IEEE Int. Conf. on Robotics and Automation
影响因子：
--
作者：
A.Namiki;Y.Nakabo;I.Ishii;M.Ishikawa
通讯作者：
M.Ishikawa