Development of a Soft Haptic Interface for Robot Teleoperation

遥操作是机器人技术中的一个领域，涉及远程机器人的实时控制。这样的系统可以是移动的或固定基地的、空中的或海上的，并且有时结合半自主功能以从操作者接管平凡的和高度复杂的任务。遥控机器人为用户提供了对预编程和全自主机器人的最大可能程度的控制和监督，但其整体效果受到操作员的注意力和能力的限制。这否定了现代机器人最重要的好处之一-消除人为错误。该项目旨在生成和评估一系列触觉反馈设备，这些设备基于一种新颖的基于粒子干扰的技术，以提供单独使用视觉和听觉反馈无法实现的任务和状态信息。例如，诸如松散地形的危险可能不是视觉上可检测的，并且由于人类对720度视频流的感知仍然是研究的活跃领域，盲点在真实的世界系统中是不可避免的。然后，将通过在一个旨在纳入环境危害的远程机器人方案中进行用户研究来评估这些方案。

Teleoperation is a field in robotics concerned with the real-time control of remotely acting robots. Such systems may be mobile or fixed-base, aerial or marine, and sometimes incorporate semi-autonomous functionality to take over both mundane and highly complex tasks from the operator. Teleoperated robots offer users the maximum possible degree of control and oversight over pre-programmed and fully-autonomous robots, but their overall effectiveness is limited by the attentiveness and capability of the operator. This negates one of the most significant benefits of modern robotics - the elimination of human error.This project aims to generate and evaluate a series of haptic feedback devices based on a novel particle jamming based technology to deliver task and state information that would not be possible with visual and auditory feedback alone. For example, hazards such as loose terrain may not be visually detectable, and with human perception of 720 degree video streams still an active area of research, blind spots are inevitable in real world systems. These will then be evaluated through user studies in a telerobotics scenario designed to incorporate environmental hazards.