Force Feedback Control for Dextrous Robot Masters Using Shape Memory Metals

本计画提出一种力回馈控制方案，以供遥操作系统中灵巧机器人主人使用。机器人远程操作可以看作是对部分智能机器的远程控制，其中在操作员的控制下，由主机提供对机器人从设备的连续在线监视和控制。此类系统旨在保护人类免受潜在危险环境的影响，即辐射室、外层空间或军火库。主从之间的耦合可以是机械的，也可以是电气的。在大多数现代系统中，当连杆是电气的时候，由于缺乏自然控制，性能会下降。性能的提高是有可能与主人更自然地控制。一个灵巧的或多指的人手复制品就是这样一个系统。然而，目前的设计没有提供力反馈。本研究测试使用形状记忆金属（SMM）致动器将力反馈给操作者的手指。主要包括：不同类型SMM作动器的数学建模与实验测试、灵巧机械手原型的构建、灵巧机械手与控制计算机的接口设计、灵巧机械手与上位机的集成、灵巧机械手与远程机器人的集成。这项研究推进了灵巧力反馈的工程知识，在空间、军事、能源和医疗领域有许多应用。它可以提高远程操作系统的效率，并扩展其处理更复杂任务的能力。

This project addresses the development of a force feedback control scheme for dexterous robot masters in telemanipulation systems. Robot telemanipulation may be viewed as the remote control of partially intelligent machines where continuous on line monitoring and control of a robot slave device is provided by a master under operator control. Such systems are designed to protect humans from potentially dangerous environments, i.e., radiation chambers, outer space or munitions dumps. The coupling between master and slave may be either mechanical or electrical. When, as in most modern systems, the linkage is electrical, performance degrades due to less natural control. Performance improvement is possible with a master which is more natural to control. A dexterous or multifingered replica of the human hand is such a system. However, current designs provide no force feedback. This research tests the use of Shape Memory Metals (SMM) actuators to bring force feedback to the operator fingers. It comprises several tasks including mathematical modeling and experimental testing of different types of SMM actuators, building a prototype dexterous master, designing the interface between the master and the control computer, integrating the master with the host computer, and integrating the master/host computer with the remote robot. This research advances engineering knowledge of dexterous force feedback and has numerous applications in space, military, energy, and medical sectors. It could improve efficiency of telemanipulation systems and expand their capabilities to address more complex tasks.