基于共享控制的人机灵巧力触觉交互系统设计与实现  

Design and implementation of a dexterous human-robot interaction system based on haptic shared control

作　　者：于宁波[1,2] 李思宜[1,2] 赵营泉 王奎[1,2] 徐昌[1,2] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津300353 [2]天津市智能机器人技术重点实验室,天津300353

出　　处：《仪器仪表学报》2017年第3期602-611,共10页Chinese Journal of Scientific Instrument

基　　金：国家高技术研究发展计划(863计划)(2012AA041403);国家自然科学基金(61403215);天津市自然科学基金(13JCYBJC36600)项目资助

摘　　要：人能够在复杂感知的相互协调下做出决策并完成灵巧操作。将视听觉和力触觉等不同模态相融合,可以提高操作者对虚拟场景或远程环境的感知,进而改善操作效果。如何协调人的操作和虚拟环境中目标机器人系统的自主性,则是人机交互中的一个关键问题。为此,本文基于Unity3D引擎建立了虚拟场景,并实现了omega.7力反馈平台与虚拟场景之间的通信。进而,创建了基于碰撞检测的虚拟距离传感器,实现了虚拟场景中目标机器人对周围环境的探测。然后,设计实现了人机力触觉交互共享控制算法,将人的智能决策与灵巧操作优势同目标机器人的自主算法相融合,使得目标机器人系统的控制权限可以在人手操作和机器人自主算法之间连续平滑转移。由此,实现了人与虚拟环境和目标机器人之间功能多样、场景逼真的视听觉和灵巧力触觉多模态交互,从而为医学、康复、军事、娱乐等领域中的人机交互提供了一种解决方案。Human beings can accomplish decision-making and dexterous manipulation with their complex sensory perception and motor control capabilities. The fusion of visual and auditory feedback together with haptic feedback,enables close resemblance of manipulation in the virtual scenarios with that in the physical world. Further,it is challenging to coordinate the human intervention and the autonomy of the robot in the virtual scenario. Here,a virtual scenario is built up with Unity3 D,taking advantages of its powerful rendering capabilities. Then,bidirectional communication between Unity3 D and the omega. 7 haptic platform is realized. After that,virtual range sensors based on collision detection are designed and implemented for environment perception of the avatar in the virtual scenario.Further,a human-robot haptic shared control strategy is designed and realized,enabling the avatar to move under the shared control of the dexterous operation by the human and the autonomous algorithms. The control authority can shift smoothly between the human operation and robot autonomy. Thus,a dexterous haptic interaction solution with Unity3 D and the omega. 7 haptic interface is established,which can find promising applications in rehabilitation,teleoperation,military missions and also the entertainment industry.

关 键 词：人机灵巧力触觉交互 虚拟传感器 力触觉共享控制 多模态反馈 虚拟场景 

分 类 号：TH89[机械工程—仪器科学与技术] TP242.6[机械工程—精密仪器及机械]