Cooperative Steady-Hand Augmentation of Human Skill in Micromanipulation Tasks

这项研究的目标是开发一种机器人系统，该系统将扩展人类执行小规模（亚毫米）操作任务的能力，这些任务需要人类的判断，感觉整合和手眼协调。 一种新的方法，被称为“稳定的手”微操作是工具，同时举行由操作员的手和一个专门设计的机器人arm. The机器人CS控制器感测力施加的操作员的工具和工具上的环境，并使用此信息在各种控制模式，以提供平稳，无震颤的精确位置控制和力缩放。其结果将是一个具有机器精度和灵敏度的操作系统，但具有手持工具的操作透明度和即时性，用于与环境进行顺应性或半刚性接触的任务。 该研究的一些具体目标包括：1）专门为协作稳定手微操作研究设计的新型机器人系统; 2）稳定协作力和位置控制的控制理论; 3）信息增强的协作稳定手操作：4）在真实的微操作任务环境中进行实验验证。

The goal of this research is to develop a robotic system that will extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A novel approach, called "steady hand" micro- manipulation is for tools to be held simultaneously both by the operator's hand and a specially designed robot arm. The robot cs controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. The result will be a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment. Some specific goals of the research include: 1) a novel robotic system specifically designed for cooperative steady hand micro-manipulation research; 2) Control theory for stable cooperative force and position control; 3) Information-enhanced cooperative steady- hand manipulation: 4) Experimental validation in realistic micro-manipulation task environments.