Highly Dexterous Telemanipulation with Haptic Feedback and Shared Autonomy (C04)

具有触觉反馈和共享自主权的高度灵巧遥控操作 (C04)

• 批准号: 437175793
• 金额: --
• 依托单位: Institut für Automatisierung
• 依托单位国家: 德国
• 项目类别: Collaborative Research Centres
• 财政年份: 2020
• 资助国家: 德国
• 起止时间: 2019-12-31 至 2022-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/437175793?language=en
• 关键词: Highly; Dexterous; Telemanipulation; Haptic; Feedback

The project aims to develop a fundamentally new robotic system for telemanipulation. In particular, by including new principles for micro-actuators able to display haptic information and proximity feedback. This actuator is based on the concept of electrostatic vibrations. Furthermore, an improvement of dexterity in telemanipulation for humans will be achieved by new strategies using shared autonomy. With these new techniques, tele-applications such as surgical procedures will become more intuitive. The results will be verified in user studies and importantly, new stability proofs of the systems will ensure stable manipulation in time-delayed systems.

该项目旨在开发一种全新的远程操作机器人系统。特别是，通过包括能够显示触觉信息和接近反馈的微致动器的新原理。该致动器基于静电振动的概念。此外，通过使用共享自主权的新策略，将实现人类远程操纵灵活性的提高。有了这些新技术，外科手术等远程应用将变得更加直观。结果将在用户研究中得到验证，重要的是，新的系统稳定性证明将确保在时滞系统中的稳定操作。