Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control

具有触觉反馈的协作辅助机器人系统：传感和控制

• 批准号: RGPIN-2016-04952
• 负责人: Pan, YaJun
• 金额: $ 2.4万
• 依托单位: Dalhousie University
• 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=615401
• 关键词: Cooperative; Assistive; Robotic; Systems; Haptic

With the need to accomplish more complicated work by robots, increasing attention has been paid to cooperative assistive robotics systems and technologies over the past decades. The proposed work on sensing, control and optimization of cooperative assistive robotic systems addresses one of the recognized major challenges and opportunities for control researchers. The results of the research will lay the ground work for the development of cooperative robotic systems with potential applications in industrial manufacturing, military applications, environmental monitoring, transportation, space exploration, medical applications and health care services. The results of the proposed research will help the industry to offer operating convenience and increase economic efficiency, as well as offer benefit to people required medical interventions and physical assistance. Cooperative robotic systems have advantages over a single robot, such as increased dexterity, improved handling capability, increased loading capacity and enhanced robustness due to redundancy. Much existing work lacks a good framework for coordination strategies due to the complexity of the whole system. The integration of two key components, sensing and control, is not optimized and needs co-design for specific applications. The issues related to unknown environment model, dynamics, coordination mechanism to dynamic environment, imperfect sensors, communication constraints, and performance evaluation index have not been well addressed. The short term objectives of the proposed research are: to develop assistive robotic platforms with haptic feedback for manufacturing, medical applications and rehabilitation respectively, as well as sensing based motion control in the existence of limited measurement, uncertainties and disturbances; to propose numerous cooperative control strategies for multiple assistive robots for cooperative tasks in which a single robot is not enough to accomplish dexterous tasks, as well as to define performance indices in evaluating how to reach cooperative agreement, to optimize the useful information for feedback from multiple sources subject to communication constraints, and to address the robustness and synthesis issues among the multiple robotic systems. Specifically, the following issues are to be investigated: 1) Assistive robotic systems with haptic feedback - sensing and motion control; 2) Cooperative control of multi-assistive robotic systems with haptic feedback. Specifically, three applications will be investigated: i) Cooperative mobile manipulators; ii) Cooperative surgical robotic devices for tasks in confined workspace with haptic feedback; iii) Cooperative wearable exoskeleton robotic devices for rehabilitation.

随着机器人完成更复杂工作的需要，在过去的几十年里，协作辅助机器人系统和技术越来越受到关注。拟议的工作，传感，控制和优化的合作辅助机器人系统解决了公认的主要挑战和控制研究人员的机会之一。研究结果将为开发合作机器人系统奠定基础，这些系统可能应用于工业制造、军事应用、环境监测、运输、空间探索、医疗应用和保健服务。拟议研究的结果将有助于该行业提供操作便利和提高经济效率，并为需要医疗干预和身体援助的人提供福利。协作机器人系统具有优于单个机器人的优点，例如增加的灵活性、改进的处理能力、增加的装载能力以及由于冗余而增强的鲁棒性。由于整个系统的复杂性，现有的许多工作缺乏一个良好的协调战略框架。传感和控制这两个关键组件的集成尚未优化，需要针对特定应用进行协同设计。未知环境模型、动力学、动态环境协调机制、传感器不完善、通信约束、性能评价指标等问题尚未得到很好的解决。 该研究的短期目标是：开发分别用于制造、医疗和康复的具有触觉反馈的辅助机器人平台，以及在测量有限、不确定性和干扰存在下基于传感的运动控制;提出了许多用于多个辅助机器人的协作控制策略，用于单个机器人不足以完成灵巧任务的协作任务，以及定义评估如何达成合作协议的性能指标，以优化来自受通信约束的多个源的反馈的有用信息，并解决多个机器人系统之间的鲁棒性和综合问题。 具体而言，以下问题是要研究：1）辅助机器人系统与触觉反馈-传感和运动控制; 2）多辅助机器人系统与触觉反馈的合作控制。具体而言，三个应用程序将被调查：i）合作移动的机械手; ii）合作的手术机器人设备的任务，在有限的工作空间与触觉反馈; iii）合作的可穿戴外骨骼机器人设备的康复。