Intelligent Anthropomorphic Soft Contact Surface Technology with MEMS in Robotics and Human Augmented Systems

摘要：IIS-9906890Kao，纽约州立大学石溪分校103,472 - 12美元。机器人和人体增强系统中MEMS的智能拟人化软接触面技术这是一个为期三年的持续奖的第一年资助。本研究的目标是基于机器人理论开发智能拟人接触面技术（SACST）框架，将框架中的MEMS器件作为分布式系统，整合感官信息进行反馈和控制以赋予智能，并在原型系统上实现该框架。这项研究的成功有可能彻底改变我们未来设计和使用座椅、床、轮椅、鞋子和机器人手臂人造皮肤的方式。sacs利用软接触模型，该模型包含了最初于1882年开发的著名的赫兹接触模型，接触界面的法向力和压力分布，摩擦极限面和接触刚度，通过嵌入式MEMS传感器系统实时动态重塑表面。这样的设计还可以实现动态功能，如接触表面的按摩或倾斜。SACST框架将用于发展对科学和工程原理的深入理解，以及接触行为的控制。因此，该框架将把用户从这些较低级别的任务中解放出来，以便他们能够专注于更高级别的任务。例如，如果在轮椅设计中实现这样的表面，椅子的用户将能够专注于高层次的操作，而不必担心赋予座位系统智能的细节。一个原型系统将基于SACST框架实现。

Abstract IIS-9906890Kao, IminSUNY at Stony Brook $103,472 - 12 mos.Intelligent Anthropomorphic Soft Contact Surface Technology with MEMS in Robotics and Human Augmented SystemsThis is the first year funding of a three year continuing award. The objectives of this research are to develop the framework of the smart anthropomorphic contact surface technology (SACST) based upon robotics theories, to employ MEMS devices in the framework as a distributed system, to integrate the sensory information for feedbackand control to impart intelligence, and to implement the framework on a prototype system. The success of this research has potential to revolutionize the way we design and use seats, beds, wheelchair, shoes, and artificial skin for robot arms in the future. SACSTutilizes the soft contact model, which subsumes the well-known Hertzian contact model initially developed in 1882, normal force and pressure distribution at the contact interface, friction limit surface, and stiffness of contact to dynamically reshape the surface through embedded MEMS transducer systems in real time. Such designcan also implement dynamic functions such as massage or tilting of contact surfaces. SACST framework will be employed to develop an in-depth understanding of science and engineering principles, as well as the control of the contact behaviors. Thus, the framework will free up users from such lower level tasks in order that they canconcentrate on higher level tasks. For example, if such surface is implemented in wheelchair design, the user of the chair will be able to focus on high level maneuvering without worrying about the details of empowering intelligence to the seating system. A prototype system will be implemented based on the SACST framework.