Intelligent Anthropomorphic Soft Contact Surface Technology with MEMS in Robotics and Human Augmented Systems

摘要IIS-9906890高，IminSUNY在斯托尼布鲁克$103,472 - 12月。智能拟人化软接触表面技术与MEMS在机器人和人类增强系统这是第一年的资金，为期三年的持续奖励。本研究的目的是发展智能拟人接触表面技术（SACST）的框架，基于机器人理论，采用MEMS设备的框架作为一个分布式系统，集成的传感器信息的反馈和控制，赋予智能，并在原型系统上实现的框架。 这项研究的成功有可能彻底改变我们设计和使用座椅、床、轮椅、鞋子和未来机器人手臂人造皮肤的方式。 SACST利用软接触模型，其中包括著名的赫兹接触模型最初在1882年开发，法向力和压力分布在接触界面，摩擦极限表面，和刚度的接触动态重塑表面通过嵌入式MEMS传感器系统在真实的时间。 这种设计还可以实现动态功能，如按摩或接触表面的倾斜。 SACST框架将被用来发展对科学和工程原理的深入理解，以及对接触行为的控制。 因此，该框架将释放用户从这样的较低级别的任务，以便他们可以专注于更高级别的任务。 例如，如果在轮椅设计中实现这种表面，则椅子的用户将能够专注于高水平操纵，而无需担心赋予座椅系统智能的细节。 一个原型系统将在SACST框架的基础上实现。

Abstract IIS-9906890Kao, IminSUNY at Stony Brook $103,472 - 12 mos.Intelligent Anthropomorphic Soft Contact Surface Technology with MEMS in Robotics and Human Augmented SystemsThis is the first year funding of a three year continuing award. The objectives of this research are to develop the framework of the smart anthropomorphic contact surface technology (SACST) based upon robotics theories, to employ MEMS devices in the framework as a distributed system, to integrate the sensory information for feedbackand control to impart intelligence, and to implement the framework on a prototype system. The success of this research has potential to revolutionize the way we design and use seats, beds, wheelchair, shoes, and artificial skin for robot arms in the future. SACSTutilizes the soft contact model, which subsumes the well-known Hertzian contact model initially developed in 1882, normal force and pressure distribution at the contact interface, friction limit surface, and stiffness of contact to dynamically reshape the surface through embedded MEMS transducer systems in real time. Such designcan also implement dynamic functions such as massage or tilting of contact surfaces. SACST framework will be employed to develop an in-depth understanding of science and engineering principles, as well as the control of the contact behaviors. Thus, the framework will free up users from such lower level tasks in order that they canconcentrate on higher level tasks. For example, if such surface is implemented in wheelchair design, the user of the chair will be able to focus on high level maneuvering without worrying about the details of empowering intelligence to the seating system. A prototype system will be implemented based on the SACST framework.