A tactile shape sensing and display system for teleoperated manipulation
A tactile shape sensing and display system for teleoperated manipulation
复制标题
用于遥控操作的触觉形状传感和显示系统
DOI：
10.1109/robot.1995.525356
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
R. Howe
中科院分区：
文献类型：
--
作者：
Dimitrios A. Kontarinis;J. Son;W. J. Peine;R. Howe
本文提出了一种系统，用于中继分布式触觉信息从指尖的遥控器的指尖的人类遥操作。触觉阵列传感器测量机器人手和抓取物体之间接触处的压力分布。计算机对该压力信号进行采样并应用信号处理算法。产生的信号驱动安装在主操纵器上的触觉形状显示器。该设备将一组针对准操作者的指尖皮肤，以重现物体形状。该系统已被测试的力反射遥控手。实验证实了该系统的能力，传达重要的联系信息。
This paper presents a system for relaying distributed tactile information from the finger tips of a remote manipulator to the finger tips of a human teleoperator. Tactile array sensors measure the pressure distribution at the contact between the robot hand and the grasped object. A computer samples this pressure signal and applies signal processing algorithms. The resulting signal drives a tactile shape display mounted on the master manipulator. This device raises an array of pins against the operator's finger tip skin to recreate the object shape. This system has been tested on a force-reflecting teleoperated hand. Experiments confirm the system's ability to convey significant contact information.