Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results
Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results
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触觉远程呈现控制技术应用于爆炸物处理：原理和实验结果
DOI：
10.1109/isie.2005.1529155
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
G. Schmidt
中科院分区：
文献类型：
--
作者：
A. Kron;G. Schmidt
提出了一种应用双手触觉遥现控制技术进行爆炸物处理的新方法。为了改进任务执行，所提出的系统使操作者能够感知来自远程任务环境的多模态反馈，特别是详细的动觉反馈。详细的开发实验装置，包括一个双手的人类系统接口和相应的双臂遥操作，报告。特别是一种新的结构适应体系结构的控制显示器和机械手的介绍。人-系统性能通过具有叠加增强现实阿西斯的远程任务环境的立体可视化来增强。此外，一个算法，用于避免危险的机械手配置的支持增强的力反馈。通过在远程环境中集中执行排雷行动，证明了所开发的双手远程呈现系统的可用性和有效性
This paper presents a novel approach for performing disposal of explosive ordnances by application of bimanual haptic telepresent control technology. For improved task execution the proposed system enables an operator to perceive multimodal feedback, especially de- tailed kinesthetic feedback, from a remote task environment. Details of a developed experimental setup, comprising a two-handed human system interface and a corresponding two-arm teleoperator, are reported. In particular a novel structure adapting architecture for control of the display and manipulator is introduced. Human-system performance is enhanced by means of stereo visualization of the remote task environment with overlayed Augmented Reality assis- tance. In addition, an algorithm for avoidance of dangerous manipulator configurations is supported by augmented force feedback. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing execution of demining operations in a remote environment