Haptic Sensory Glove for Humans and Robots

描述（由申请人提供）： 拟议的第一阶段项目的总体目标是设计一种具有触觉传感能力的智能皮肤贴片的触觉传感手套，以实现涉及人手，机器人手以及两者之间交互的各种应用。拟议的第一阶段项目的具体目标包括：（1）传感手套的规格开发;（2）基于商业现货产品以及麻省理工学院触摸实验室的新型定制阵列开发触觉传感器阵列;（3）皮肤和基底顺应层开发;（4）在机器人手上测试传感器贴片;（5）解码传感器信息的算法和软件开发;（6）完成触觉传感手套系统集成;（6）估算系统开发成本并编制技术文档。该项目预计将改进触觉传感阵列的硬件和软件设计，以实现机器人的感知和操纵能力，并监测人类如何在触觉任务中使用双手。上面提出的智能皮肤和触觉感觉手套具有广泛的直接应用，如该部分列表所示：（1）自主机器人手：在制造、库存分拣、危险环境中监测和控制接触任务;（2）自主人类手：动态测量在各种触觉任务中正常和受损手的空间压力分布，虚拟或遥控对象;（3）人机接口：涉及触摸板和屏幕、触觉鼠标和触觉接口的应用的增强，虚拟现实的所有应用，例如游戏、教育和培训;（4）人机交互：监视和控制人与机器人手之间的直接交互以及用于远程操作应用的改进的主系统和从系统从危险手术到机器人介入手术。 公共卫生相关性： 所提出的触觉感觉手套预计将在人类和机器人领域，包括两者之间的相互作用的应用。特别地，手套的医疗应用包括（1）在各种触觉任务中的正常和受损手部性能的空间压力分布的动态测量，包括处理真实的、虚拟或远程操作的对象，以及（2）用于远程操作应用（例如机器人介导的手术）的改进的主系统和从系统。

DESCRIPTION (provided by applicant): The overall objective of the proposed Phase-I project is to design a Haptic Sensory Glove with Smart Skin patches that have tactile sensing capability to enable a large variety of applications involving human hands, robot hands and interactions between the two. The specific aims of the proposed Phase I project include (1) Specification development for the sensory glove; (2) Development of tactile sensor array based on a commercial off the shelf product as well as a novel customized array from the MIT Touch Lab; (3) Skin and substrate compliant layer development; (4) Testing the sensor patches on robotic hands; (5) Algorithms and software development for decoding sensor information; (6) Completing the haptic sensory glove system integration; (6) Estimate system development cost and develop technical documentation. The project is expected to result in improved hardware and software design of tactile sensing arrays for enabling sensory and manipulation capabilities of robots and monitoring how humans use their hands in haptic tasks. The Smart Skin and the Haptic Sensory Glove proposed above have a wide variety of immediate applications as illustrated in this partial list: (1) Autonomous robot hands: monitoring and control of contact tasks in manufacturing, inventory sorting, hazardous environments; (2) Autonomous human hands: dynamic measurement of spatial pressure profiles of normal and impaired hand performance in various haptic tasks including handling of real, virtual or teleoperated objects; (3) Human-Computer Interfaces: Augmentation of applications involving touch tablets and screens, tactile mouse and haptic interfaces, all applications of virtual reality such as gaming, education and training; (4) Human-Robot Interaction: monitoring and control of direct interactions between human and robot hands as well as in improved master and slave systems for teleoperation applications ranging from hazardous operations to robot mediated surgery. PUBLIC HEALTH RELEVANCE: The proposed Haptic Sensory Glove is expected to have applications in both human and robot domains including interactions between the two. In particular, the medical applications of the Glove include (1) dynamic measurement of spatial pressure profiles of normal and impaired hand performance in various haptic tasks including handling of real, virtual or teleoperated objects and (2) improved master and slave systems for teleoperation applications such as robot mediated surgery.