机器人辅助浇注任务中的多感官反馈优化方法

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL
Actuators Pub Date : 2024-04-18 DOI:10.3390/act13040152
Mandira S Marambe, B. Duerstock, Juan Wachs
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引用次数: 0

摘要

在日常生活活动和其他远程任务中,残疾人和在无障碍环境中工作的人可以从机器人机械手的帮助中获益匪浅。由于传统的操作界面缺乏感官信息,依靠机器人机械手与环境互动的用户受到了限制。这些界面使用户无法获得通常可通过直接接触获得的体感反馈。多模态感官反馈可以有效弥补这些感知差距。考虑到需要传达的一组物体属性(如温度、重量)和可用的感官模式(如视觉、触觉),有必要确定应为每种属性分配哪种模式,以实现有效的界面设计。本研究的目标是为机器人辅助浇注任务开发一种有效的多感官界面,既能提供细致入微的感官反馈,又能满足精确远程操作所需的高视觉需求。为此,我们采用了一种优化方法来生成反馈属性与模式分配的组合,从而最大限度地提高有效反馈感知,并将认知负荷降至最低。一组筛选实验测试了 12 种可能的单独分配,以形成这种最佳组合。由此得出的感知准确性、负荷和用户偏好度量被输入到成本函数中。将其作为线性分配问题进行表述和求解,最终生成了成本最低的组合。对倾倒任务的实际使用案例进行功效评估的实验结果表明,该解决方案比无反馈有效得多,与任意设计相比具有相当大的优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Optimization Approach for Multisensory Feedback in Robot-Assisted Pouring Task
Individuals with disabilities and persons operating in inaccessible environments can greatly benefit from the aid of robotic manipulators in performing daily living activities and other remote tasks. Users relying on robotic manipulators to interact with their environment are restricted by the lack of sensory information available through traditional operator interfaces. These interfaces deprive users of somatosensory feedback that would typically be available through direct contact. Multimodal sensory feedback can bridge these perceptual gaps effectively. Given a set of object properties (e.g., temperature, weight) to be conveyed and sensory modalities (e.g., visual, haptic) available, it is necessary to determine which modality should be assigned to each property for an effective interface design. The goal of this study was to develop an effective multisensory interface for robot-assisted pouring tasks, which delivers nuanced sensory feedback while permitting the high visual demand necessary for precise teleoperation. To that end, an optimization approach was employed to generate a combination of feedback properties to modality assignments that maximizes effective feedback perception and minimizes cognitive load. A set of screening experiments tested twelve possible individual assignments to form this optimal combination. The resulting perceptual accuracy, load, and user preference measures were input into a cost function. Formulating and solving as a linear assignment problem, a minimum cost combination was generated. Results from experiments evaluating efficacy in practical use cases for pouring tasks indicate that the solution was significantly more effective than no feedback and had considerable advantage over an arbitrary design.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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