Intelligent Tactile-based Dexterous Robot Hand Control

该研究的主要目标是开发新的基于实时计算智能触觉反馈的控制算法，用于类人多指机器人手，能够灵巧地探索，抓取和手动操作3D物体。 灵巧物体的探索、抓取和操作是机器人技术的一个复杂领域，其中多个手指合作执行任务。控制灵巧的机器人手对触觉传感器提出了主要的设计挑战，触觉传感器是第一条接触线，用于处理传感器数据，检测物体的几何形状，滑动和接触压力，然后用于所有手指运动和施加的力的基于触觉和动觉反馈的协调控制。*** 短期目标是（1）开发新的算法，用于融合触觉和运动觉传感器数据，为灵巧机器人手的实时控制提供一致的多传感器反馈，（2）开发新的神经模糊反应行为控制算法，用于在物体探索期间同时控制手指的位置和力，以及（3）开发用于灵巧物体抓取和手内操作的任务驱动智能控制算法 * 即将研究的新的基于智能手柄的手控技术将对一系列新兴的机器人应用产生重大影响，这些应用需要先进的灵巧物体探索、抓取和操纵能力，例如：（i）在危险环境、高风险战区和安全行动或难以到达海底和外层空间环境中，自动或遥控机器人搬运材料，（二）远程手术和远程医疗诊断，（三）用于老年人护理援助的新一代人形机器人和社会机器人。

The main objective of the proposed research is to develop novel real-time computational-intelligence tactile feedback-based control algorithms for a human-like multi-finger robot hand able to dexterously explore, grasp, and in-hand manipulate 3D objects.*** Dexterous object exploration, grasping and manipulation is a complex area of robotics in which multiple fingers cooperate to carry out the task. Controlling a dexterous robotic hand poses major design challenges for the tactile sensors that are the first line of contact, for processing the sensor data, detecting object geometry, slippage and contact pressure, and then for the tactile and kinaesthetic feedback-based coordinated control of all finger movements and applied forces. *** The short-term objectives are (1) development of new algorithms for the fusion of tactile- and kinaesthetic-sensor data to provide a coherent multisensory feedback for the real-time control of the dexterous robot hand, (2) development of new neuro-fuzzy reactive-behavior control algorithms for concurrent position & force control of hand fingers during object exploration, and (3) development of task-driven intelligent control algorithms for dexterous object grasping and in-hand manipulation*** The new intelligent tactile-based hand control techniques to be studied will have a significant impact on an emerging range of robotics applications requiring advanced dexterous object exploration, grasping, and manipulation capabilities such as: (i) autonomous or remotely controlled robotic handling of materials in hazardous environments, high risk war-zone and security operations, or difficult to reach undersea and outer space environments, (ii) tele-surgery and tele-medical diagnostic, (iii) a new generation of humanoid robots for eldercare assistance and social robotics.