Dexterity Enhancement via Macro/Micro Bilateral Manipulation

本项目探讨了通过宏观/微观双侧操作来提高灵巧性的主题。宏观/微观双边操纵是指利用力解释主从操纵器为人类操作者提供灵巧的微观操纵能力。微操作是指任何需要控制运动和力的手动任务，远低于正常的生理分辨率。宏观-微观双侧机械手（MMBM）最明显的应用是作为显微外科手术和微装配的辅助装置。本项目涉及MMBM的理论和实验两个方面。其目标是理解和描述导致最佳灵巧性增强的MMBM行为的特征。这是通过检查一类任务来完成的，在这些任务中，MMBM作为一个手动工具。具体来说，本项目研究了使用该工具匹配操作员和环境阻抗的效果，以及使用它来重塑环境阻抗，补偿物理标度定律的影响。将开发一种高性能MMBM，其特点是四个自由度，直接驱动，主、从机械手，多处理器实时控制系统，以及显微镜、相机和监视器，用于观察从机械手和微环境。该仪器将用于进行一系列心理物理实验，以评估灵巧性。

This project addresses the topic of dexterity enhancement by macro/micro bilateral manipulation. Macro/micro bilateral manipulation refers to the use of a force interpreting master-slave manipulator to provide a human operator the capacity for dexterous micromanipulation. Micromanipulation refers to any manual task requiring control of motions and forces well below normal physiological resolution. The most obvious applications for macro- micro bilateral manipulators (MMBM) are as assistive devices for microsurgery and microassembly. This project addresses both theoretical and experimental aspects of MMBM. Its goal is to understand and describe the features of MMBM behavior that lead to optimal dexterity enhancement. This is accomplished by examining a class of tasks in which the MMBM behaves as a hand tool. Specifically, this project studies the effects of using the tool to match operator and environment impedances, and of using it to reshape the the environment's impedance, compensating for the effects of physical scaling laws. A high performance MMBM will be developed which will be characterized by four degrees of freedom, direct drive, master and slave manipulators, a multi-processor real time control system, and a microscope, camera, and monitor for observation of the slave manipulator and microenvironment. The apparatus will be used to perform a series of psychophysical experiments to assesss dexterity.