Haptic telemanipulation of soft environment without direct force feedback

Aiguo Song, D. Morris, J. Colgate
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引用次数: 15

Abstract

Haptic exploration of remote object plays an important role in teleoperation system. This paper proposes a novel method to realize the softness display for telemanipulation of soft environment without direct force feedback, which is based on stiffness control of elastic element and damp control of magnetic field. This method can produce softness sensation with wide range from very soft to hard to the human fingertip. And a new control structure for hapticly telemanipulating the soft environment by using the softness display devices is presented, which send dynamics parameters of soft environment identified on line back to the master site instead of direct force feedback. The parameters are used to control the softness display, which can let human operator feel the softness of remote environment when his fingertip jiggles the button of the softness display device.
无直接力反馈的软环境触觉遥控
远程目标的触觉探测在远程操作系统中起着重要的作用。提出了一种基于弹性元件刚度控制和磁场阻尼控制的无直接力反馈软环境遥控软显示的新方法。这种方法可以产生柔软的感觉,从非常软到硬,对人的指尖范围很广。提出了一种利用柔度显示装置对软环境进行触觉遥控的控制结构,它将在线识别的软环境动力学参数发送回主站,而不是直接的力反馈。这些参数用来控制柔软度显示,当操作员的指尖摇动柔软度显示装置的按钮时,可以让操作员感受到远程环境的柔软度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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