Cooperative Steady-Hand Augmentation of Human Skill in Micromanipulation Tasks

这项研究的目标是开发一种机器人系统，该系统将扩展人类执行需要人类判断、感觉整合和手眼协调的小规模(亚毫米)操作任务的能力。一种名为“稳定手”微操作的新方法是让操作者的手和专门设计的机械臂同时握住工具。机器人CS控制器感知操作员对工具施加的力和工具对环境施加的力，并在各种控制模式中使用该信息来提供平滑、无抖动的精确位置控制和力缩放。其结果将是一个具有机器的精度和灵敏度的操纵系统，但具有手持工具的操纵透明度和直接性，以完成与环境顺从或半刚性接触的任务为特征。本研究的具体目标包括：1)针对协同稳定手微操作研究而设计的新型机器人系统；2)稳定的协作力和位置控制理论；3)信息增强型协同稳定手操纵；4)在现实微操作任务环境中的实验验证。

The goal of this research is to develop a robotic system that will extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A novel approach, called "steady hand" micro- manipulation is for tools to be held simultaneously both by the operator's hand and a specially designed robot arm. The robot cs controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. The result will be a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment. Some specific goals of the research include: 1) a novel robotic system specifically designed for cooperative steady hand micro-manipulation research; 2) Control theory for stable cooperative force and position control; 3) Information-enhanced cooperative steady- hand manipulation: 4) Experimental validation in realistic micro-manipulation task environments.