ITR: Modeling Synthesis and Analysis of Human-Machine Collaborative Systems

该项目建模并构建系统，增强人类的物理能力，以执行熟练的任务。人机物理协作的重要领域包括微操作，如显微外科手术或微组装，以及远程操作（如在外层空间或海底）。在医疗触诊等需要高度灵巧的领域研究这种技术也很重要。这些系统对于培训残疾人和各种教育应用也很重要。这种人机协作，即一个人和一个机器人都“拿着”同一把刀或一根棍子，与传统界面的不同之处在于它们丰富的感官输入、耦合的计算和外部物理现实。将人纳入反馈回路使这些系统比旧的机器人应用程序更复杂；人类的期望和反应必须在系统中建模和提供。视乎应用而定，可能涉及视觉、声音和力反馈；反应时间可能有所不同；机器人操纵臂可以用来增加系统的稳定性、微尺度能力和/或安全性。

This project models and builds systems that augment human physical capabilities for performing skilled tasks. Areas of importance for human-machine physical collaboration include micro-manipulation such as microsurgery or microassembly, and remote operation (eg in outer space or under the ocean). It is also important to study such techniques in areas where great dexterity is required, such as medical palpation.These systems are also important for training the disabled and in various educational applcations.Human-machine collaborations of this sort, where a person and a robot are both "holding" the same knife or stick, differ from traditional interfaces in their richness of sensory inputs and the coupled computation and external physical reality. The inclusion of the human in the feedback loop makes these systems more complex than older robotics applications; human expectations and reactions must be modeled and provided for in the system. Depending on the application, vision, sound, and force-feedback may be involved; reaction times may vary; and the robot manipulator may be used to add stability, micro-scale capability, and/or safety to the system.