Network Oriented Micromanipulation Systems using Haptic Interfaces

在CSCW技术领域中，所处理的数据仅仅是图像和声音，而对于包括物理接触在内的多模态协作的研究较少。我们关注的是网络化的多模态协作，特别是包括触觉接触在内的多模态协作。在这种情况下，远程操作用于连接微工作空间与人类工作空间。它将解决遥操作中操作者与微目标之间存在的尺度差异问题。为了给从机械手执行任务提供更舒适的环境，提高工作效率，对从机械手进行了运动学分析和工作空间分析。我们的微操作器，它具有并联机构，适用于上述微任务。它也有足够的自由度，以实现人类的灵活性，在微工作空间。对机器人的工作空间进行了详细的分析，特别是双机械手的工作空间分析，并将模型参考自适应控制器应用于主机械手的力觉交互控制中，以补偿摩擦力对机器人响应各向同性和自由运动性能的影响。为了提高对小力的响应，基于滑模观测器被用来消除摩擦。非线性滑模观测器可以显著减小由摩擦引起的非线性干扰力。最后，将微操作手和力觉界面这两个系统连接起来，构成了具有力觉反馈的遥操作系统。通过两种不同的触觉接口进行8个基本任务的测试，来评估系统作为微任务辅助系统的性能。结果表明，遥微操作系统具有足够的遥微操作性能。

In CSCW technology field, the data dealt are only images and sounds, and little attention has been given to the multi-modal collaboration including physical contact We are concerned with networked multimodal collaboration especially those including haptic contacts.In our research, we consider the micromanipulation as an application of the tele-operation. In this case, the tele-operation is used to connect the micro-workspace with the human workspace. It will solve the scale difference problem existent when teleoperation is performed among human operator and micro objects. These systems aim to provide a more comfortable environment for task execution and work efficiency improvement.Kinematic analysis and workspace analysis of the slave manipulator were conducted. Our micromanipulator, which has parallel mechanism, are suitable for above mentioned micro-tasks. It's also having enough degrees of freedom for realize human dexterity in micro workspace. Detailed workspace analysis, especially dually arranged manipulators was also performed.As a haptic interface control scheme, the model reference adaptive controller was applied to the master device to compensate friction force, which spoiled response isotropy and free motion performance. To improve response to small force, an observer based on the sliding mode is used to eliminate the friction. The nonlinear disturbance force (caused by the friction of the device) can be significantly reduced by a nonlinear sliding mode observer. The proposed method is very effective.Finally, two systems, micromanipulator and haptic interface are connected each other as tele-micromanipulation systems with haptic feedback. Some experiment, which is performing 8 basic tasks tests with two different haptic interlaces, are performed to evaluate system performance as micro-task assistance system. It showed that the tele-micromanipulation systems have enough performance for tele-micro tasks.