NRI-Small: Context-Driven Haptic Inquiry of Objects Based on Task Requirements for Artificial Grasp and Manipulation

PI：Santos，Veronica建议编号：1208519智能优点：类似人类的灵活操作在2009年美国机器人路线图报告中被突出地列为一项重大挑战。人类的灵巧在很大程度上依赖于触觉，并受到本体感觉和视觉反馈的影响。这项工作旨在通过将新型多通道触觉传感器与拟人化人工手相结合，并根据人工抓取和操作的任务要求，开发用于上下文驱动的物体触觉查询的通用例程，从而推动人工机械手的发展。一个主要的目标是开发机器人手通过触摸有效地学习其非结构化环境中的对象的能力，特别是在计算机视觉无法提供关于手与对象的物理交互的关键信息的情况下。虽然计算机视觉提供了关于物体及其环境的初步信息，但仅靠视觉不能提供成功的手-物体相互作用所需的所有必要信息。当手指被被抓住的物体遮挡时，以及当手与物体的交互完全看不见时，情况尤其如此。触觉研究框架的灵感将来自一套人类触觉探索程序。与触觉探索不同，触觉探索将要求每个探索过程所花费的顺序和时间取决于任务目标。触觉提问的顺序和类型将取决于上下文，并旨在以较低的调查成本提供高水平的任务导向信息。每种触觉感知模式(力、振动、温度)的权重也将根据任务的上下文进行调整。该建议旨在通过开发一种上下文驱动的、任务导向的触觉查询框架，以适合任务的方式集成多位触觉和本体感觉数据，从而增强协作机器人系统的健壮性。该框架将被开发并部署在一只拟人机器人手上，该手配备了一种新型的商用多模式触觉传感器。这项工作具有变革性，因为它将使协作机器人系统即使在没有视觉反馈的情况下也能保持功能，而视觉反馈通常是机器人系统的主要反馈形式。这项建议的长期研究目标是减轻人工机械手使用者的认知负担。更广泛的影响：拟议的翻译研究可以增强合作机器人系统的功能能力，在这种系统中，人类使用人工机械手在非结构化、不安全或有限的准入环境(假肢、康复、辅助、太空、水下、军事、救援、手术)中工作。这项拟议的工作可以使合作机器人系统的人类用户受益，因为它使机器人能够在不增加人类负担的情况下自主控制低水平的感知-动作循环。ROS操作系统可用于模拟和控制拟人机械手，该拟人机械手配备有使用商业上可获得的致动器的商业上可获得的触觉传感器。用于商业触觉传感器(适用于数据挖掘)的定制源代码(C、MATLAB、ROS)和开放源码触觉库将为机器人社区的利益和进步而公开提供。

PI: Santos, VeronicaProposal Number: 1208519Intellectual Merit: Human-like dexterous manipulation is featured prominently as a grand challenge in the 2009 Roadmap for U.S. Robotics' report. Human dexterity relies heavily on tactile sensation and is influenced by proprioceptive and visual feedback. The proposed work aims to advance artificial manipulators by integrating a new class of multimodal tactile sensors with anthropomorphic artificial hands and developing generalizable routines for context-driven haptic inquiry of objects based on task requirements for artificial grasp and manipulation. A primary goal is the development of capabilities for a robot hand to efficiently learn about objects in its unstructured environment through touch, specifically for cases where computer vision would fail to provide critical information about the physical hand-object interactions. While computer vision provides preliminary information about an object and its environment, vision alone cannot provide all essential information necessary for successful physical hand-object interactions. This is especially true when digits are occluded by the grasped object, and when the hand-object interaction is completely out of view. Inspiration for the haptic inquiry framework will be drawn from a suite of human haptic exploration procedures. In contrast to haptic exploration, haptic inquiry will require that the order and time spent on each exploratory procedure depend on task goals. The order and type of questions to be asked haptically will be context-dependent and designed to yield high-level, task-directed information at a low cost of inquiry. The weight given to each mode of tactile sensing (force, vibration, temperature) will also be tuned according to the context of the task.This proposal aims to strengthen the robustness of co-robot systems by developing a framework for context-driven, task-directed haptic inquiry that integrates multi-digit tactile and proprioception data in a task-appropriate manner. The framework will be developed and deployed on an anthropomorphic robot hand outfitted with a new class of commercially-available multimodal tactile sensors. The work is transformative because it will enable co-robot systems to remain functional even in the absence of visual feedback, which is typically the primary form of feedback for robotic systems. The long-term research objective of this proposal is to reduce the cognitive burden on the user of an artificial manipulator. Broader Impacts: The proposed translational research could enhance the functional capabilities of co-robot systems in which humans use artificial manipulators to work in unstructured, unsafe, or limited access environments (prosthetic, rehabilitative, assistive, space, underwater, military, rescue, surgery). The proposed work could benefit the human user of a co-robot system by empowering the robot with the ability to control low-level perception-action loops autonomously without burdening the human. The ROS operating system may be used to simulate and control an anthropomorphic robot hand outfitted with commercially-available tactile sensors using commercially-available actuators. Custom source code (C, MATLAB, ROS) and an open source haptic library for a commercially-available tactile sensor (suitable for data mining) will be made publicly available for the benefit and advancement of the robotics community.