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

在双边遥操作系统中，为了改善主侧的存在，将触觉信息从从机传输到人工操作员是非常重要的。在本研究中，作为基于触觉的遥操作，讨论了抓取和抬起光滑的锥形物体的任务。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)从仿生的角度出发，研制了内置紧凑型触觉传感器的软指。由于波纹管硅橡胶蒙皮对摩擦条件敏感，因此可以通过线圈传感器测量物体的剪切应变来估计物体的滑度。(2)证实了摩擦系数越小，产生的剪切应变越大。通过采用不均匀的皮肤，在握力较小的早期阶段就可以区分物体是粗糙还是光滑，接触后即可测量摩擦系数。(3)通过挤压效应，显示出物体的触觉信息。由于摩擦力减小，可获得光滑、光滑的手感。摩擦系数可以控制在0.1-0.7之间。(4)通过触觉反馈，操作者可以充分利用触觉显示的摩擦信息来调节握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。

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.