Supervised Dexterous Manipulation with Haptic Feedback

该项目的重点是一个为有监督的远程操作带来增强的触觉敏感度和灵活性的系统。所提出的结构将利用人类操作员和由机械臂操作器和多指手组成的从属系统之间的触觉、力、音频和视觉反馈通道的组合。建议的方法建立在现有的抓取和灵巧操作、远程操纵和触觉感知方面的工作基础上。这项工作的未来应用包括在偏远和危险环境中的维护、维修、勘探和打捞作业。

The project focuses on a system for bringing enhanced tactile sensitivity and dexterity to supervised tele-manipulation. The proposed structure will utilize a combination of tactile, force, audio, and visual feedback channels between a human operator and a slave system consisting of a robot arm manipulator and a multi-fingered hand. The proposed approach builds on upon existing work in grasping and dexterous manipulation, telemanipulation, and tactile sensing. Future applications of this work include, maintenance, repair, exploration, and salvage operation in remote and hazardous environments.