Supervised Dexterous Manipulation with Haptic Feedback

该项目的重点是一个系统，使加强触觉灵敏度和灵活性的监督远程操纵。所提出的结构将利用触觉，力，音频和视觉反馈通道之间的人类操作员和从系统组成的机器人手臂机械手和多指手的组合。所提出的方法建立在现有的工作抓和灵巧的操作，远程操纵，触觉传感。这项工作的未来应用包括在偏远和危险环境中的维护、维修、勘探和打捞操作。

The project focuses on a system for bringing enhanced tactile sensitivity and dexterity to supervised tele-manipulation. The proposed structure will utilize a combination of tactile, force, audio, and visual feedback channels between a human operator and a slave system consisting of a robot arm manipulator and a multi-fingered hand. The proposed approach builds on upon existing work in grasping and dexterous manipulation, telemanipulation, and tactile sensing. Future applications of this work include, maintenance, repair, exploration, and salvage operation in remote and hazardous environments.