CHS: Small: Understanding Environment Perception and Task Performance in Human-in-the-Loop Tele-robotic Systems (HiLTS)
CHS:小型:了解人在环远程机器人系统 (HiLTS) 中的环境感知和任务性能
基本信息
- 批准号:1910939
- 负责人:
- 金额:$ 49.67万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Continuing Grant
- 财政年份:2019
- 资助国家:美国
- 起止时间:2019-10-01 至 2024-09-30
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
The human body is highly capable of dexterous manipulation. This dexterity is developed and refined over many years based on touch or tactile feedback from repeated practice performing manipulation tasks in many different environments with varying types of constraints. There are situations, however, where constraints on the environment or body prevent direct manipulation. For these situations, such as minimally invasive surgical robots, bomb disposal robots, and prosthetic limbs, manipulation can be provided through the use of collaborative robots. Such robots or haptic devices, called human-in-the-loop telerobotic systems (HiLTS), provide the much-needed tactile feedback as with the natural limbs working on the manipulations directly. HiLTS are designed to extend and, in some circumstances, improve the dexterous capabilities of the human operator in virtual and remote environments. However, the information that the human user receives from the haptic devices can be distorted by the hardware and software mechanisms used. Existing research focus mostly on providing stability of the haptic devices as humans explore a remote environment and such a focus on stability can typically lead to a trade-off in the information (such as stiffness) pertaining to the physical properties of the remote environment. This project, therefore, seeks to understand how the trade-off between stability and stiffness affect the user's understanding of a remote environment and the ability to perform dexterous tasks in the environment. This knowledge can then be used to improve the functionality of collaborative robotic systems used in many different application contexts, including healthcare, defense, and manufacturing. This project addresses the research issues in providing dexterous manipulations through haptic feedback in telerobotic systems. Dexterous manipulation, however, depends on how well the telerobot is incorporated into the operator's sensorimotor control scheme. Empirical evidence suggests that haptic feedback can lead to improved dexterity. Unfortunately, the addition of haptic feedback, in particular, kinesthetic feedback can introduce dynamics between the leader and follower of the telerobot that can affect both stability and device performance. Concerted research efforts have focused on making these device dynamics transparent to the operator while preserving stability. True transparency, however, represents a theoretical ideal rather than an attainable goal. Therefore, the project team will explore the effect of "reduced transparency" by establishing an empirical understanding of the effect of a telerobot's closed-loop leader/follower dynamics on the perception of a remote environment and performance in tasks requiring knowledge of that environment. Utilizing a generalized telerobotic testbed that features a rigid mechanical, dynamic mechanical, and dynamic electromechanical transmission, the research team will (1) independently and collectively investigate haptic perception of environment stiffness and damping using a mechanical teleoperator with rigid and dynamic leader/follower transmissions, (2) investigate performance in two functional tasks requiring knowledge of environment dynamics using a rigid mechanical teleoperator and an electromechanical teleoperator with closed-loop leader/follower dynamics, and (3) investigate haptic perception and functional task performance with bimanual mechanical and electromechanical teleoperators that have symmetric and asymmetric leader/follower dynamics. Investigations will also consider the utility of visual feedback in addition to haptic sensory feedback. Overall, this research will lead to telerobots that come closer to being embodied by their operators and will lead to improved human-robot collaborative capabilities in HiLTS that will have benefits in many different industries including healthcare, defense, and manufacturing.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
人体具有高度灵巧的操作能力。这种灵活性是经过多年的发展和完善的,基于在许多不同的环境中,在不同类型的约束条件下,反复练习执行操作任务的触摸或触觉反馈。然而,在某些情况下,对环境或身体的限制阻止了直接操作。对于这些情况,如微创手术机器人、拆弹机器人和假肢,可以通过使用协作机器人来提供操作。这种机器人或触觉设备,被称为人在环远程机器人系统(HiLTS),提供急需的触觉反馈,就像自然四肢直接进行操作一样。HiLTS旨在扩展并在某些情况下提高人类操作员在虚拟和远程环境中的灵巧能力。然而,人类用户从触觉设备接收到的信息可能会被所使用的硬件和软件机制所扭曲。现有的研究主要集中于在人类探索远程环境时提供触觉设备的稳定性,而这种对稳定性的关注通常会导致与远程环境物理特性相关的信息(如刚度)的权衡。因此,该项目旨在了解稳定性和刚度之间的权衡如何影响用户对远程环境的理解以及在环境中执行灵巧任务的能力。这些知识可用于改进协作机器人系统在许多不同应用环境中的功能,包括医疗保健、国防和制造业。本课题旨在探讨在遥控机器人系统中通过触觉反馈提供灵巧操作的研究问题。然而,灵巧的操作取决于远程机器人如何很好地融入操作员的感觉运动控制方案。经验证据表明,触觉反馈可以提高灵巧性。不幸的是,添加触觉反馈,特别是动觉反馈会在远程机器人的领导者和追随者之间引入动态,从而影响稳定性和设备性能。协同研究的重点是使这些设备的动态对操作员透明,同时保持稳定性。然而,真正的透明度只是理论上的理想,而不是可以实现的目标。因此,项目团队将通过建立对远程机器人闭环领导者/追随者动态对远程环境感知和需要该环境知识的任务表现的影响的经验理解,来探索“降低透明度”的影响。利用具有刚性机械传动、动态机械传动和动态机电传动的广义遥控机器人试验台,研究团队将(1)独立和集体地研究环境刚度和阻尼的触觉感知,使用具有刚性和动态领导/跟随传动的机械遥控机器人;(2)研究在两种需要环境动力学知识的功能任务中的表现,分别使用刚性机械遥操作器和具有闭环领导/跟随动力学的机电遥操作器;(3)研究具有对称和非对称领导/跟随动力学的双手机械遥操作器和机电遥操作器的触觉感知和功能任务表现。除了触觉反馈外,研究还将考虑视觉反馈的效用。总的来说,这项研究将使远程机器人更接近于其操作员的体现,并将提高人机协作能力,这将在许多不同的行业,包括医疗保健、国防和制造业中受益。该奖项反映了美国国家科学基金会的法定使命,并通过使用基金会的知识价值和更广泛的影响审查标准进行评估,被认为值得支持。
项目成果
期刊论文数量(3)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Telerobot operators can account for varying transmission dynamics in a visuo-haptic object tracking task
远程机器人操作员可以在视觉触觉对象跟踪任务中考虑不同的传输动态
- DOI:10.1109/icra48891.2023.10160509
- 发表时间:2023
- 期刊:
- 影响因子:0
- 作者:Singhala, Mohit;Brown, Jeremy D.
- 通讯作者:Brown, Jeremy D.
A novel teleoperator testbed to understand the effects of master-slave dynamics on embodiment and kinesthetic perception
一种新颖的远程操作员测试台,用于了解主从动力学对体现和动觉感知的影响
- DOI:
- 发表时间:2020
- 期刊:
- 影响因子:0
- 作者:Singhala, Mohit;Brown, Jeremy D
- 通讯作者:Brown, Jeremy D
Mirror-Brush Illusion: Creating Phantom Tactile Percepts on Intact Limbs
- DOI:10.1109/toh.2023.3279012
- 发表时间:2023-10-01
- 期刊:
- 影响因子:2.9
- 作者:Singhala,Mohit;Brown,Jeremy D.
- 通讯作者:Brown,Jeremy D.
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Jeremy Brown其他文献
TYM (Test Your Memory) Testing
TYM(测试你的记忆力)测试
- DOI:
10.1007/978-1-4471-2452-8_9 - 发表时间:
2013 - 期刊:
- 影响因子:0
- 作者:
Jeremy Brown - 通讯作者:
Jeremy Brown
Impaired C3b/iC3b deposition on Streptococcus pneumoniae in serum from patients with systemic lupus erythematosus.
系统性红斑狼疮患者血清中肺炎链球菌上的 C3b/iC3b 沉积受损。
- DOI:
10.1093/rheumatology/kep289 - 发表时间:
2009 - 期刊:
- 影响因子:5.5
- 作者:
F. Goldblatt;J. Yuste;D. Isenberg;Anisur Rahman;Jeremy Brown - 通讯作者:
Jeremy Brown
A marriage of convenience? A qualitative study of colleague supervision of master's level dissertations
- DOI:
10.1016/j.nedt.2010.12.025 - 发表时间:
2011-11-01 - 期刊:
- 影响因子:
- 作者:
Jennifer Kirton;Katherine Straker;Jeremy Brown;Barbara Jack;Annette Jinks - 通讯作者:
Annette Jinks
Efficient LiDAR-Based Object Segmentation and Mapping for Maritime Environments
适用于海洋环境的基于 LiDAR 的高效对象分割和测绘
- DOI:
- 发表时间:
2019 - 期刊:
- 影响因子:4.1
- 作者:
D. Thompson;E. Coyle;Jeremy Brown - 通讯作者:
Jeremy Brown
Differential Expression of Cell Surface Markers by Ovine Respiratory Tract Dendritic Cells
绵羊呼吸道树突状细胞细胞表面标志物的差异表达
- DOI:
- 发表时间:
2006 - 期刊:
- 影响因子:3.2
- 作者:
T. McNeilly;Jeremy Brown;G. Harkiss - 通讯作者:
G. Harkiss
Jeremy Brown的其他文献
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{{ truncateString('Jeremy Brown', 18)}}的其他基金
Isolation and characterisation of monoclonal antibodies for the treatment or prevention of antibiotic resistant Acinetobacter baumannii infections
用于治疗或预防抗生素耐药鲍曼不动杆菌感染的单克隆抗体的分离和表征
- 批准号:
MR/Y008693/1 - 财政年份:2024
- 资助金额:
$ 49.67万 - 项目类别:
Research Grant
Identifying the correlates of protection against Streptococcus pneumoniae respiratory tract infection using a human challenge model
使用人体挑战模型确定预防肺炎链球菌呼吸道感染的相关性
- 批准号:
MR/Z503721/1 - 财政年份:2024
- 资助金额:
$ 49.67万 - 项目类别:
Research Grant
Travel: Improving the Utility of Haptic Feedback in Upper-Limb Prosthesis Control: Establishing user-centric guidelines for engineering innovation
旅行:提高上肢假肢控制中触觉反馈的效用:建立以用户为中心的工程创新指南
- 批准号:
2331318 - 财政年份:2023
- 资助金额:
$ 49.67万 - 项目类别:
Standard Grant
CAREER: Improving Prosthesis Usability through Enhanced Touch Feedback and Intelligent Control
职业:通过增强的触摸反馈和智能控制提高假肢的可用性
- 批准号:
2146206 - 财政年份:2022
- 资助金额:
$ 49.67万 - 项目类别:
Standard Grant
Collaborative Research: OPUS: CRS: A Synthetic View of Evolutionary Heterogeneity and the Tree of Life
合作研究:OPUS:CRS:进化异质性和生命之树的综合观点
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1950759 - 财政年份:2020
- 资助金额:
$ 49.67万 - 项目类别:
Standard Grant
Collaborative Research: CIBR: CloudForest: A Portable Cyberinfrastructure Workflow To Advance Biological Insight from Massive, Heterogeneous Phylogenomic Datasets
合作研究:CIBR:CloudForest:一种便携式网络基础设施工作流程,可从海量、异质的系统发育数据集中推进生物学洞察
- 批准号:
1934156 - 财政年份:2019
- 资助金额:
$ 49.67万 - 项目类别:
Standard Grant
Adjunct antibody therapy for severe antibiotic-resistant Acinetobacter baumannii infections
严重抗生素耐药鲍曼不动杆菌感染的辅助抗体治疗
- 批准号:
MR/S004394/1 - 财政年份:2018
- 资助金额:
$ 49.67万 - 项目类别:
Research Grant
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重组糖复合物疫苗对肺炎链球菌具有普遍保护作用
- 批准号:
MR/R001871/1 - 财政年份:2018
- 资助金额:
$ 49.67万 - 项目类别:
Research Grant
Adjunct antibody therapy for severe antibiotic-resistant Acinetobacter baumannii infections
严重抗生素耐药鲍曼不动杆菌感染的辅助抗体治疗
- 批准号:
MC_PC_17227 - 财政年份:2018
- 资助金额:
$ 49.67万 - 项目类别:
Intramural
Training in Innovative Phylogenetics and Comparative Methods at the Society of Systematic Biologists Meeting, January, 2017, Baton Rouge, Louisiana
系统生物学家协会会议上的创新系统发育学和比较方法培训,2017 年 1 月,路易斯安那州巴吞鲁日
- 批准号:
1723656 - 财政年份:2017
- 资助金额:
$ 49.67万 - 项目类别:
Standard Grant
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