Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control

随着机器人完成更复杂工作的需要，在过去的几十年里，协作辅助机器人系统和技术越来越受到关注。拟议的工作，传感，控制和优化的合作辅助机器人系统解决了公认的主要挑战和控制研究人员的机会之一。研究结果将为开发合作机器人系统奠定基础，这些系统可能应用于工业制造、军事应用、环境监测、运输、空间探索、医疗应用和保健服务。拟议研究的结果将有助于该行业提供操作便利和提高经济效率，并为需要医疗干预和身体援助的人提供福利。协作机器人系统比单个机器人具有优势，例如增加灵活性、提高处理能力、增加负载能力以及由于冗余而增强鲁棒性。由于整个系统的复杂性，现有的许多工作缺乏良好的协调策略框架。传感和控制这两个关键组件的集成尚未优化，需要针对特定应用进行协同设计。未知环境模型、动力学、动态环境协调机制、传感器不完善、通信约束、性能评价指标等问题尚未得到很好的解决。

With the need to accomplish more complicated work by robots, increasing attention has been paid to cooperative assistive robotics systems and technologies over the past decades. The proposed work on sensing, control and optimization of cooperative assistive robotic systems addresses one of the recognized major challenges and opportunities for control researchers. The results of the research will lay the ground work for the development of cooperative robotic systems with potential applications in industrial manufacturing, military applications, environmental monitoring, transportation, space exploration, medical applications and health care services. The results of the proposed research will help the industry to offer operating convenience and increase economic efficiency, as well as offer benefit to people required medical interventions and physical assistance. Cooperative robotic systems have advantages over a single robot, such as increased dexterity, improved handling capability, increased loading capacity and enhanced robustness due to redundancy. Much existing work lacks a good framework for coordination strategies due to the complexity of the whole system. The integration of two key components, sensing and control, is not optimized and needs co-design for specific applications. The issues related to unknown environment model, dynamics, coordination mechanism to dynamic environment, imperfect sensors, communication constraints, and performance evaluation index have not been well addressed.