Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation
Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation
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遥控操作中手臂接地触觉反馈设备的初步测试
DOI：
10.1115/imece1998-0246
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
M. Cutkosky
中科院分区：
文献类型：
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作者：
Michael L. Turner;Daniel Gomez;M. R. Tremblay;M. Cutkosky
本文研究了在机器人灵巧手执行遥操作任务时，对操作员指尖施加基于手臂的力反馈的使用。这些力是通过电缆驱动的反馈装置与仪表式手套结合使用来施加的。实验旨在评估受试者辨别不同大小和僵硬物体的能力，以及调节抓取力的能力。结果表明，辨别物体大小与使用基于环境的传统触觉反馈界面相当，尽管仍不如直接人类接触有效。力调节表明，用户可以保持相当恒定的力，但会受到一些系统噪音的影响。由于该系统固有的顺应性，辨别对象刚度是最困难的任务，并且在区分柔顺(150N/m)和刚性对象方面产生了75%的成功率。
This paper investigates the use of arm-grounded force feedback applied to an operator’s fingertips while performing telemanipulation tasks with a dexterous robot hand. The forces were applied by a cable-driven feedback device used in conjunction with an instrumented glove. Experiments were conducted to evaluate subjects’ ability to discriminate between objects of different size and stiffness, and to regulate grasp forces. The results indicate that object size discrimination was comparable to using a conventional haptic feedback interface grounded to the environment, though still not as effective as direct human contact. The force regulation indicated that the user could maintain a fairly constant force, but was subject to some system noise. Discrimination of object stiffness was the most difficult task, due to the inherent compliances of the system and yielded a 75% success rate for distinguishing between compliant (150 N/m) and rigid objects.