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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：
Jeremy Brown
金额：
$ 49.67万
依托单位：
Johns Hopkins University
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：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1910939&HistoricalAwards=false
关键词：
CHS Small Understanding Environment Perception

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.

人体具有高度的灵巧操作能力。这种灵活性是多年来基于在具有不同类型的约束的许多不同环境中执行操纵任务的重复实践的触摸或触觉反馈而开发和改进的。然而，在某些情况下，对环境或身体的约束阻止了直接操纵。对于这些情况，例如微创手术机器人、拆弹机器人和假肢，可以通过使用协作机器人来提供操纵。此类机器人或触觉设备称为人在环遥控机器人系统（HiLTS），可以提供急需的触觉反馈，就像自然肢体直接进行操作一样。HiLTS旨在扩展并在某些情况下提高操作人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的信息可能被所使用的硬件和软件机制扭曲。现有的研究主要集中在提供的触觉设备的稳定性，因为人类探索一个远程环境，这种对稳定性的关注通常会导致有关远程环境的物理属性的信息（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。然后，这些知识可以用于改进在许多不同应用环境中使用的协作机器人系统的功能，包括医疗保健，国防和制造。本计画系针对遥操作机器人系统中借由触觉回馈提供灵巧操作之研究议题。然而，灵巧的操作取决于遥控机器人如何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活性。不幸的是，触觉反馈，特别是动觉反馈的添加可以在遥控机器人的领导者和跟随者之间引入动态，这可以影响稳定性和设备性能。协调一致的研究工作集中在使这些设备的动态透明的操作员，同时保持稳定性。然而，真正的透明是一种理论上的理想，而不是一个可以实现的目标。因此，项目小组将探索“透明度降低”的影响，建立一个经验性的理解遥控机器人的闭环领导者/追随者动态的影响，对远程环境的感知和性能的任务，需要的知识，环境。利用具有刚性机械，动态机械和动态机电传输的通用遥控机器人测试平台，研究团队将（1）使用具有刚性和动态领导者/追随者传输的机械遥控器独立和共同研究环境刚度和阻尼的触觉感知，（2）研究使用刚性机械遥操作器和具有闭环领导者/跟随者动态的机电遥操作器在需要环境动态知识的两个功能任务中的性能，（3）研究了具有对称和非对称领导者/跟随者动力学的双手机械和机电遥操作者的触觉感知和功能任务性能。除了触觉反馈外，研究还将考虑视觉反馈的实用性。总的来说，这项研究将使遥控机器人更接近于由其操作者体现，并将提高HiLTS中的人机协作能力，这将使医疗保健，国防和制造业等许多不同行业受益。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。