基于软体手的机器人遥操作人机交互系统研制  

Development of Robot Teleoperation Human-Computer Interaction System Based on Soft Hand

作　　者：杨淦华 曾庆军[1] 韩春伟 黄鑫[1] 戴晓强[1] YANG Ganhua;ZENG Qingjun;HAN Chunwei;HUANG Xin;DAI Xiaoqiang(School of Automation,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学自动化学院,江苏镇江212100

出　　处：《测控技术》2023年第4期94-98,共5页Measurement & Control Technology

基　　金：国家自然科学基金资助项目(11574120);江苏省产业前瞻与共性技术项目(BE2018103);江苏省研究生科研创新计划(KYCX22_3820)。

摘　　要：为了提升抓取软体物体、易碎物体的完整性,设计制作了一种基于软体手的机器人遥操作人机交互系统。研制了一种嵌入了弯曲传感器的软体主手,获取人手的弯曲电信号,以此判断人手的弯曲程度,实现对软体从手系统的遥操作。并在远端软体从手中嵌入压力传感器,获取软体从手抓取目标时的表面压力电信号,以此来判断软体手抓取目标时的力度,实现力反馈。软体手人机交互系统能够减小传统刚体机械手抓取目标的限制,可有效抓取软体或易碎目标,实验表明了其有效性。In order to improve the integrity of grasping soft objects and fragile objects,a robot teleoperation human-computer interaction system based on soft hands is designed and produced.A soft master hand embedded with a bending sensor is developed to obtain the bending electrical signal of the human hand,so as to judge the bending degree of the human hand and realize the teleoperation of the soft slave hand system.The pressure sensor is embedded in the remote soft salve hand to obtain the surface pressure electrical signal when the soft salve hand grasps the target,so as to judge the strength of the soft hand when grasping the target and achieve force feedback.The human-computer interaction system of the soft hand can reduce the limitation of the traditional rigid body manipulator to grasp the target,and can effectively grasp the soft body or fragile target.The experiment shows its effectiveness.

关 键 词：软体手 遥操作 人机交互 力反馈 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置] TP79[自动化与计算机技术—控制科学与工程]