Collaborative Research: NRI: Shape-Based Remote Manipulation

合作研究：NRI：基于形状的远程操作

• 批准号: 2221571
• 负责人: James Colgate
• 金额: $ 60.32万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-01 至 2026-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2221571&HistoricalAwards=false
• 关键词: Collaborative; Research; NRI; Shape; Based

Remote presence systems, consisting of operator interfaces coupled to avatar robots, promise new ways of connecting people across the barrier of distance. For example, the technology will enable physicians to incorporate physical examinations into telehealth, and families to care for elderly relatives as they age in place. Present systems, however, can be slow and frustrating to use due to limited haptic capabilities: operators cannot easily feel remote objects as if they were in their own hands. To address this, a new paradigm in telemanipulation, Shape-Based Remote Manipulation (SBRM), will be developed. SBRM integrates novel multi-finger haptic devices with mathematical models of grasped objects to enable dexterous in-hand telemanipulation. In addition to developing novel technology, this project will also make an educational impact both within and outside the partner universities. The investigators will recruit and train a majority BIPOC (Black, Indigenous, and People of Color) group of graduate students on this research. Additionally, the research team will design and host a tele-touch exhibit to be called “The Shape Beaming Experience” where students at The Challenger Learning Center in Tallahassee, Florida, can physically interact with students at the Museum of Science and Industry in Chicago, Illinois.The goal of Shape-Based Remote Manipulation (SBRM) is to overcome a fundamental issue in telemanipulation, namely the trade-off between stability/robustness and performance in the face of communication latencies. It accomplishes this through a novel integration of RGB-D data, geometric models, compliant robotic hands and arms, and bilateral control, along with innovations in multi-finger haptic feedback and shape-based controls. The project will be executed in four parts. First, a state-of-the-art remote manipulation testbed will be developed spanning two university campuses nearly 1,000 miles apart. Second, techniques for obtaining semantic, geometric, and physical information about objects in the avatar's environment will be developed. Third, a novel Shape Interface will be created, allowing operators to grasp, feel and manipulate virtual objects. Fourth, a set of shape-based control techniques that coordinate operator and avatar dexterity will be developed. The project will lead to new knowledge about the factors impacting remote in-hand dexterity, especially the role of shape-based haptic information. One aspect of the work will be a novel multi-finger haptic interface that constrains the fingers to extremely rigid virtual surfaces, enabling heretofore infeasible studies of shape information in haptic perception and dexterous manipulation. Another aspect of the work will be a new approach to telemanipulation based on differential geometry that aims to combine the robustness benefits of unilateral control with the performance benefits of bilateral control.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.

远程呈现系统由与化身机器人耦合的操作员界面组成，有望跨越距离障碍将人们联系起来。 例如，该技术将使医生能够将体检纳入远程医疗，并使家庭能够在老年亲属就地照顾他们。然而，由于触觉能力有限，现有系统使用起来可能很慢且令人沮丧：操作员无法轻松地感觉到远程物体，就像它们在自己手中一样。 为了解决这个问题，将开发一种新的远程操作范例，即基于形状的远程操作（SBRM）。 SBRM 将新颖的多指触觉设备与抓取物体的数学模型集成在一起，以实现灵巧的手持遥控操作。 除了开发新技术之外，该项目还将对合作大学内外的教育产生影响。研究人员将招募和培训大部分 BIPOC（黑人、土著和有色人种）研究生群体进行这项研究。 此外，研究团队将设计并举办一个名为“形状光束体验”的远程触摸展览，佛罗里达州塔拉哈西挑战者学习中心的学生可以与伊利诺伊州芝加哥科学与工业博物馆的学生进行物理互动。基于形状的远程操纵（SBRM）的目标是克服远程操纵中的一个基本问题，即面对通信时稳定性/鲁棒性和性能之间的权衡 延迟。 它通过 RGB-D 数据、几何模型、兼容的机器人手和手臂以及双边控制的新颖集成，以及多手指触觉反馈和基于形状的控制的创新来实现这一目标。 该项目将分四个部分实施。 首先，将开发一个最先进的远程操纵测试台，横跨两个相距近 1,000 英里的大学校园。 其次，将开发用于获取有关化身环境中的对象的语义、几何和物理信息的技术。 第三，将创建一个新颖的形状界面，使操作员能够抓住、感觉和操纵虚拟对象。 第四，将开发一套基于形状的控制技术来协调操作员和化身的灵活性。 该项目将带来关于影响远程手部灵活性的因素的新知识，特别是基于形状的触觉信息的作用。 这项工作的一个方面将是一种新颖的多指触觉界面，它将手指限制在极其刚性的虚拟表面上，从而能够对触觉感知和灵巧操作中的形状信息进行迄今为止不可行的研究。 这项工作的另一个方面将是一种基于微分几何的远程操纵新方法，旨在将单边控制的鲁棒性优势与双边控制的性能优势结合起来。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力优点和更广泛的影响审查标准进行评估，被认为值得支持。