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Development of Next Generation Teleoperation System by Multi-Fingered Hand Considering Tactile

考虑触觉的下一代多指手遥操作系统的开发

基本信息

批准号：
15300056
负责人：
SANO Akihito
金额：
$ 10.43万
依托单位：
Nagoya Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

In the bilateral teleoperator systems, transferring tactile information from a slave to a human operator is very important in order to improve the presence in the master side. In this study, as teleoperation based on tactile sense, the task to grasp and lift up the slippery tapered object was discussed. The multi-fingered hand system for telepresence based on the tactile information was developed. The results of this study are summarized as follows :(1)From a biomimetic viewpoint, the soft finger with the built-in compact tactile sensor was developed. Since the bellows-type silicone rubber skin is sensitively stretched depending on the frictional conditions, the slipperiness of the object can be estimated by measuring the shear strain by coil sensor.(2)It was confirmed that the smaller the friction coefficient is, the larger shear strain generates. By adopting non-uniform skin, the discrimination whether the object is rougher or more slippery was possible at the early stage when the grip force is small, and the friction coefficient could be measured just after the contact.(3)By the squeeze effect, the tactile information was displayed. Feeling of smooth and slippery could be obtained because the friction reduces. The friction coefficient could be controlled in the range of 0.1-0.7.(4)With the tactile feedback, the human operator could adequately regulate the coordination between the grip force and the vertical lifting force by utilizing the frictional information from the tactile display. Consequently, human skills (experience) could be successfully used in the intuitive teleoperation.

在双边遥操作系统中，触觉信息从一个奴隶到一个人类操作员是非常重要的，以提高在主侧的存在。本研究作为基于触觉的遥操作，讨论了抓取并举起光滑锥形物体的任务。开发了基于触觉信息的临场感多指手系统。主要研究成果如下：（1）从仿生学角度出发，研制了一种内置小型触觉传感器的柔性手指。由于波纹管型硅橡胶外皮会根据摩擦条件敏感地拉伸，因此可以通过线圈传感器测量剪切应变来估计物体的滑动度。(2)It摩擦系数越小，产生的剪切应变越大。通过采用非均匀皮肤，可以在抓握力较小时的早期阶段辨别物体是否更粗糙或更光滑，并且可以在接触后立即测量摩擦系数。(3)By挤压效果，触觉信息被显示出来。由于摩擦力减小，因此可以获得光滑和光滑的感觉。摩擦系数可控制在0.1-0.7之间。（4）通过触觉反馈，操作人员可以利用触觉显示的摩擦信息充分调节握持力和垂直提升力之间的协调。因此，人类的技能（经验）可以成功地用于直观的遥操作。