CAREER: Shared Control for Skill Transfer in Human-Robot Haptic Interactions

职业：人机触觉交互中技能转移的共享控制

• 批准号: 0448341
• 负责人: Marcia O'Malley
• 金额: --
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-04-01 至 2011-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0448341&HistoricalAwards=false
• 关键词: CAREER; Shared; Control; Skill; Transfer

The primary goal of this research effort is to improve the effectiveness of skill transfer, rehabilitation, and collaboration via haptic devices. To do so, the PI will formulate requirements for shared control between humans and robots in haptic systems designed for training, rehabilitation, and collaboration. An experimental test-bed comprised of two commercial haptic devices with force sensing capabilities will be employed throughout the project. The PI will study two shared control system architectures for skill transfer. In the first, the human acts as the novice or patient, and the robot serves as the expert. Control schemes for the expert system (the haptic device) will be designed and analyzed theoretically and experimentally. The second phase of the research effort will explore human-robot-human interfaces. Here, the PI will focus on expert-novice and therapist-patient teams, with a robotic system acting as the mediator between the two. The intellectual merit of this research and education plan is that human factors and control system design will be used to develop effective human-robot systems for skill transfer and rehabilitation. A set of fundamental human-robot interaction issues will be addressed theoretically and experimentally: (1) the design of system architectures for effective skill transfer between humans and robots, (2) skill transfer between human-human teams as a model for human-robot interaction, and (3) the design and implementation of control algorithms that promote efficient skill transfer by effectively controlling feedback to each member of the system. The broader impacts of this work are improved health care through more efficient and effective robot assisted rehabilitation practices, enhanced skill training for defense and surgical applications, and improved understanding of human-robot interactions for skill transfer. Specific education goals are to create innovative laboratory modules using haptic devices to enhance student learning of important engineering concepts, reinvigorate an introductory robotics course to include hands-on experiments with haptics and robotics, and high school outreach that includes internships, days-on-campus, and demonstrations using haptics to encourage students to pursue careers in science and engineering. Each of these educational goals ties closely to the PI's existing NSF support for curriculum enhancement, and further supports her commitment to combining research and education into a cohesive and integrated career plan

这项研究工作的主要目标是提高通过触觉设备的技能转移，康复和协作的有效性。为此，PI将在设计，康复和协作的触觉系统中对人类和机器人之间共享控制的要求提出要求。 在整个项目中，将采用由两个具有力传感能力的商业触觉设备组成的实验测试床。 PI将研究两个共享控制系统架构以进行技能转移。 首先，人类充当新手或患者，机器人是专家。 专家系统（触觉设备）的控制方案将在理论上和实验上进行设计和分析。 研究工作的第二阶段将探索人类 - 人类界面。 在这里，PI将重点关注专家 - 网络和治疗师患者团队，机器人系统充当两者之间的调解人。 该研究和教育计划的智力优点是，将使用人为因素和控制系统设计来开发有效的人类机器人系统来进行技能转移和康复。 理论上和实验中将解决一组基本的人类机器人互动问题：（1）系统体系结构的设计，用于人类和机器人之间的技能转移，（2）人类团队之间的技能转移，作为人类互动的模型，（3）通过有效地通过控制送回的送回送回的控制算法的控制和实施，以促进有效的技能转移。 这项工作的更广泛的影响是通过更高效，有效的辅助康复实践，增强了对防御和手术应用的技能培训，以及对人类机器人相互作用的技能转移的了解，可以改善医疗保健。 具体的教育目标是使用触觉设备来创建创新的实验室模块，以增强学生对重要工程概念的学习，重新振兴入门机器人学课程，包括对触觉和机器人技术的动手实验，以及高中外展活动，这些课程包括实习，包括Days-on-on-on-on-on-on-on-campus，以及使用HAPSICS来鼓励学生在科学领域和机构中使用HAPTICS。 这些教育目标中的每一个都与PI现有的NSF对课程增强的支持紧密联系，并进一步支持她将研究和教育结合到凝聚力和综合的职业计划的承诺