Haptic feedback for improved robotic arm control during simple grasp, slippage, and contact detection tasks
Haptic feedback for improved robotic arm control during simple grasp, slippage, and contact detection tasks
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触觉反馈可在简单的抓取、滑动和接触检测任务中改进机械臂控制
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Vincent Duchaine
中科院分区：
文献类型：
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作者：
M. Motamedi;Jean;Jean;Vincent Duchaine
本文探讨了在常规对象操作任务中触觉和视觉反馈的使用。我们在 12 名人类参与者的帮助下进行了滑动检测、接触检测和抓握控制测试。在测试过程中，受试者控制 UR5 通用机器人的机械臂，该机械臂安装有三指机器人抓手并配备触觉传感器。参与者在尝试完成每项任务时使用视觉反馈、振动触觉反馈或压力反馈来评估机器人手指的运动。我们分析了他们在每种类型反馈下的表现，以评估如何使用触觉反馈来减少对视觉注意力的需求，从而改善上肢截肢者的生活。
This paper explores the use of haptic and visual feedback during routine object-manipulation tasks. We conducted tests of slippage detection, contact detection, and grasp control, with the help of twelve human participants. During the tests, the subjects controlled the robotic arm of a UR5 Universal Robot that was mounted with a three-finger robotic gripper and equipped with tactile sensors. The participants used either their visual feedback, vibrotactile feedback, or pressure feedback to assess the movements of the robotic fingers as they attempted to complete each task. We analyzed their performance with each type of feedback in order to evaluate how haptic feedback may be used to reduce the need for visual attention, and thus improve the lives of upper-limb amputees.