Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control

在过去的几十年里，随着机器人需要完成更复杂的工作，协作辅助机器人系统和技术受到了越来越多的关注。关于协作辅助机器人系统的传感、控制和优化的拟议工作解决了控制研究人员所面临的主要挑战和机遇之一。研究成果将为合作机器人系统的开发奠定基础，该系统在工业制造、军事应用、环境监测、交通运输、空间探索、医疗应用和医疗保健服务中具有潜在的应用前景。拟议的研究结果将有助于该行业提供运营便利和提高经济效益，并为需要医疗干预和身体援助的人提供好处。与单个机器人相比，协作机器人系统具有更高的灵活性、更好的处理能力、更大的负载能力以及由于冗余而增强的健壮性。由于整个系统的复杂性，许多现有的工作缺乏一个良好的协调策略框架。传感和控制这两个关键组件的集成并未得到优化，需要针对特定应用进行协同设计。在未知环境模型、动力学、对动态环境的协调机制、传感器不完善、通信约束、性能评价指标等方面还没有得到很好的解决。

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.