Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots
Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots
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DOI：
10.1080/01691864.2020.1769725
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发表时间：
2020-06-02
影响因子：
2
通讯作者：
Tadokoro, Satoshi
中科院分区：
文献类型：
--
作者：
Nagano, Hikaru;Takenouchi, Hideto;Tadokoro, Satoshi
这项研究提出了一种方法，通过传输测量的碰撞振动将建筑机器人的联系信息传递给远程操作员，而碰撞振动通常超出人类可感知的范围。我们侧重于人类辨别高频振动包络的能力，将其作为感知接触材料和碰撞条件的基本线索。该方法将单载频调幅波的包络形状保持在人的敏感范围内。在初步实验中，小型挖方试验证实，该方法提高了接触材料和滑动速度的识别能力。一项心理物理实验还表明，无论载波频率如何，参与者都能分辨出包络差异。将该方法应用于在IMPACT程序中开发的工程机器人触觉传动系统。在机器人手臂上安装了振动传感器，并将振动触觉反馈应用到操作员的手腕上。在一项微妙的远程操作任务(将一根棒子插入砖块)下的性能评估显示，对于三名参与者中的两名，所提出的方法显著降低了峰值力。实验结果表明，该方案可以提高遥操作的可操作性。
This study proposes a methodology to deliver contact information on construction robots to the remote operator by transmitting measured collision vibrations, which are often beyond the human-perceivable range. We focus on the human capacity to discriminate the envelope of high-frequency vibrations as an essential cue to perceive contact materials and collision conditions. The proposed method preserves the envelope shapes with amplitude-modulated waves with a single carrier frequency in the human sensitive range. In the preliminary experiments, a miniature shovel digging experiment confirmed that the proposed method improves the discriminability of the contact materials and sliding velocities. A psychophysical experiment also showed that the participants could discriminate the envelope differences irrespective of the carrier frequency. The proposed method was applied to the tactile transmission system for a construction robot developed in the ImPACT program. A vibration sensor was attached on the robot arm, and the vibrotactile feedback was applied to the operator's wrist. Performance evaluations under a delicate teleoperated task (insertion of a bar into bricks) showed that the peak force was reduced by the proposed method significantly for two out of the three participants. The results show that our proposal could improve the maneuverability of teleoperation.