Haptic Telerobotic Control Systems: Analysis and Design for High-Fidelity Interaction

触觉遥控机器人控制系统：高保真交互的分析与设计

• 批准号: RGPIN-2014-03907
• 负责人: TavakoliAfshari, SeyedMahdi
• 金额: $ 2.26万
• 依托单位: University of Alberta
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=610716
• 关键词: Haptic; Telerobotic; Control; Systems; Analysis

Haptic feedback provides the humans who operate machines (e.g., planes, excavators, or robots such as the Canadarm or Mars rovers) with a sense of touching objects they are not actually touching by hand but are manipulating by the machines. To recreate for the sense of touch what closed-circuit TV recreates for the sense of sight, haptic feedback produces the illusion of touching the objects by applying forces to the human operator hands through user interfaces (joysticks). This is a useful capability because haptic interaction is the human’s most basic way to understanding an environment and effecting change in it. Haptic feedback allows the human operator of the machine to handle objects more gently, safely, reliably, and precisely. This is of paramount importance if the “machine” is a surgical or rehabilitation robot and the manipulated “object” is the soft tissue or disabled limb of a patient while a surgeon or therapist acts as the machine “operator”. This proposal concerns enhancing the quality (“fidelity” or “transparency”) of haptic interaction, which is critical to the safety and successful execution of various manipulation and sensing tasks, for machines called “teleoperation systems”. In a haptic teleoperation system, a human operator controls a robot via a user interface in order to handle and “feel” objects potentially located at a remote distance (equivalent to broadcast TV in the above analogy). Teleoperation systems are useful machines when a human has to interact with a hazardous environment (e.g., undersea or toxic fields) or an inaccessible/remote environment (e.g., outer space). Undersea teleoperation for monitoring oil and gas pipelines and the inspection of subsea structures eliminates the high cost of human divers and the risk to life. Teleoperation for nuclear waste handling or mine clearance minimizes the risk to life. Space teleoperation minimizes the number of expensive manned missions required for equipment assembly, servicing and repair. In such applications, bilateral teleoperation (i.e., with haptic feedback for the operator) is preferable over unilateral teleoperation (i.e., without haptic feedback). In the proposed research, we will focus on teleoperation systems for surgery and rehabilitation although the research outcomes are applicable broadly. Our proposed research on surgical teleoperation enables surgery on the beating heart in the presence of haptic feedback for the surgeon so that he/she does not apply too much force on the heart tissue. Teleoperation can facilitate in-home telerehabilitation as an alternative to hospital-based rehabilitation of physically disabled patients. In this context, our proposed research will enable time-sharing of one therapist among several patients so that the therapist can shift his/her attention from one patient to another as teleoperated robots at the patients’ homes learn to continue the therapies safely in the absence of the therapist. The proposed research will also answer how two or more humans or human hands can haptically collaborate in controlling the same machine such that execution of a given task takes place more easily or optimally. For instance, we will investigate how an assistive robotic arm mounted on a power wheelchair can be collaboratively teleoperated from two joysticks held by a disabled person’s two hands, which may have limited but complementary motions. While useful in many application areas, the proposed research leads to important enabling biomedical engineering technologies. In addition to the groundbreaking innovations, this research will benefit Canada by training students in areas pertaining to the development of advanced haptic technologies including robotics, human-machine interaction, and systems control.

触觉反馈为操作机器的人（例如，飞机，挖掘机，或机器人，如加拿大臂或火星漫游者），具有触摸物体的感觉，他们实际上不是用手触摸，而是由机器操纵。为了再现闭路电视再现视觉的触觉，触觉反馈通过经由用户接口（触杆）向人类操作员的手施加力来产生触摸对象的错觉。这是一种有用的能力，因为触觉交互是人类理解环境并影响环境变化的最基本方式。触觉反馈允许机器的人类操作员更轻柔、安全、可靠和精确地处理物体。如果“机器”是手术或康复机器人，并且操纵的“对象”是患者的软组织或残疾肢体，而外科医生或治疗师充当机器“操作员”，则这是至关重要的。 该建议涉及提高质量（“保真度”或“透明度”）的触觉交互，这是至关重要的安全和成功执行各种操纵和传感任务，机器称为“遥操作系统”。在触觉遥操作系统中，人类操作员通过用户界面控制机器人，以便处理和“感觉”可能位于远程的对象（相当于上述类比中的广播电视）。当人类必须与危险环境（例如，海底或有毒区域）或不可接近/遥远的环境（例如，外层空间）。用于监测石油和天然气管道以及检查海底结构的海底遥操作消除了人类潜水员的高昂成本和生命风险。核废料处理或扫雷的远程操作将生命风险降至最低。空间遥控操作最大限度地减少了昂贵的载人任务所需的设备组装，维修和修理。在这样的应用中，双边远程操作（即，具有操作者的触觉反馈）优于单侧远程操作（即，没有触觉反馈）。 在拟议的研究中，我们将集中在远程手术和康复系统，虽然研究成果是广泛适用的。我们提出的外科手术遥控研究，使外科医生的触觉反馈的存在下，跳动的心脏上的手术，使他/她不施加太多的力量对心脏组织。远程操作可以促进家庭远程康复作为身体残疾患者的医院康复的替代方案。在这种情况下，我们提出的研究将使一个治疗师在几个病人之间的时间共享，使治疗师可以将他/她的注意力从一个病人转移到另一个远程操作的机器人在病人的家中学习安全地继续治疗。拟议的研究还将回答两个或多个人或人手如何在控制同一台机器时进行触觉合作，以便更容易或更优化地执行给定任务。例如，我们将研究如何安装在电动轮椅上的辅助机器人手臂可以从残疾人的两只手，这可能有有限的，但互补的运动举行的两个摇杆协作远程操作。虽然在许多应用领域很有用，但拟议的研究导致了重要的生物医学工程技术。除了突破性的创新之外，这项研究还将通过培训与先进触觉技术（包括机器人技术，人机交互和系统控制）发展相关的学生来使加拿大受益。