基于本体手势-触觉感知的机器手抓取  

Research on Telerobot Hand Grasping Based on Ontological Gesture and Tactile Perception

作　　者：张晓鹏 张阳阳 李莉萍 赵吉 张东彦 ZHANG Xiaopeng;ZHANG Yangyang;LI Liping;ZHAO Ji;ZHANG Dongyan(School of Internet Anhui University,Anhui University,Hefei 230039,China)

机构地区：[1]安徽大学互联网学院,安徽合肥230039

出　　处：《无线电通信技术》2022年第3期433-441,共9页Radio Communications Technology

基　　金：国家自然科学基金(62101001,62071002)。

摘　　要：遥操作机器人为从事各种风险工作的人们提供智能和方便的支持,成为机器人人机交互领域中关键技术之一。而触觉感知及反馈技术能够很好地辅助操作者完成精细遥操作机器人抓握控制,研究触觉反馈在遥操作中的协同作用有助于提高机器人遥操作性能。在基于数据手套及触觉感知阵列的遥操作机器人控制系统下,构建了包含视觉及触觉双模态的反馈体系。采用上位机实时显示的方式解析机器人作业状态,同时构建了基于电刺激的力触觉临场感反馈模型,实现对机器人灵巧手的精准控制及抓握作业情况和握力的再现,增加操作者的本体感。针对不同的用户使用情况进行了交叉验证,实验结果表明,触觉反馈技术能够提高遥操作机器人的作业性能,同时基于视-触双模态反馈技术能够实现对触觉力的大小及遥操作机器人作业状态更优的反馈性能,实现了操作者在视觉受阻碍状况下对机器人灵巧手进行遥操作并完成稳定抓取的任务。Teleoperation robot provides intelligent and convenient support for people engaged in various risk work,and becomes one key technology in human-robot interaction.Tactile perception and feedback technology can help operator to complete the grasping control of teleoperation robot.Research on the cooperative effect of tactile feedback in teleoperation is helpful to improve the teleoperation performance of robot.In this paper,a dual-mode feedback system including vision and touch is constructed under the control system of telerobot based on data glove and tactile sensing array.Real-time display of the upper computer can be used to analyse the working state of robot.Meanwhile,a force touch feedback model based on electrical stimulation is constructed to realize precise control of robotic hand,reappearance of the grasping operation and the grip strength,as well as to increase the operator′s sense of ontology.Experiment results show that the tactile feedback technology can improve the performance of telerobot.Based on the visual-touch dual-mode feedback technology,it can achieve better feedback performance on the tactile force and the working state of telerobot operation so as to complete the task of stable grabbing of the objects.

关 键 词：遥操作机器人 视-触双模态反馈 抓取 触觉临场感 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]