NRI-Large: Collaborative Research: Soft Compliant Robotic Augmentation for Human-Robot Teams

NRI-Large：协作研究：人机团队的软兼容机器人增强

• 批准号: 1226075
• 负责人: Robert Wood
• 金额: $ 51.96万
• 依托单位: Harvard University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-10-01 至 2017-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1226075&HistoricalAwards=false
• 关键词: NRI; Large; Collaborative; Research; Soft

This proposal addresses the hardware, control and planning technologies required to achieve soft robotic systems, in order to offer inherent safety and adaptation to the human-machine systems of the future. The project is motivated by a broad range of aspects of human-robot interaction, including soft augmentation tools for safe compliant manipulation, soft exoskeletons for rehabilitation of neuromuscular disorders, or active clamping systems that can conform to arbitrary surfaces. The proposed research will address the algorithmic and device-level challenges that arise in the design of soft compliant robots capable of pose-invariant and shape-invariant grasping. A combination of algorithmic solutions to modeling, control, planning, and adaptation will lead to new soft compliant manipulators that do not need accurate geometric models for grasping. By designing soft compliant fingers and hands, new approaches to grasp planning and manipulation will be enabled. A novel composable actuation system and supporting planning and control algorithms with features inspired by natural muscle will be developed.Broader Impacts: Soft robots are inherently low-cost. Affordable soft manipulators will enable in-home assistants for the elderly or incapacitated, but these robots must be able to manipulate the natural world as easily as people do. The next generation robot manipulators will also support new levels of factory automation, in which robots will work synergistically with humans with the ultimate goal of reducing the cost of manufacturing in the USA. The proposed soft devices will provide a new approach to assistive and rehabilitative usage of compliant robotic platforms. Their functional compliant properties will enable them to work side-by-side with human beings or as part of their bodies, to augment and improve human productivity and performance. This new wearable soft robotic technology will not only help workers perform tasks, but also improve the quality of life for many people. In addition, the PIs have a long tradition of integrating research and education by providing research training at all levels, from high-school teachers and students to undergraduate and graduate students, and postdocs. A range of activities to reach out to undergraduate students, high-school communities, women and minorities is planned.

该建议涉及实现软机器人系统所需的硬件，控制和计划技术，以便提供对未来人类机器系统的固有安全性和适应性。该项目是由人类机器人相互作用的各个方面进行的，包括用于安全合规操作的软增强工具，用于恢复神经肌肉疾病的软外骨骼，或可以符合任意表面的主动夹紧系统。拟议的研究将解决能够姿势不变和形状不变掌握的柔软兼容机器人设计时出现的算法和设备级别的挑战。算法解决方案与建模，控制，计划和适应的结合将导致新的柔软兼容的操纵器，这些操纵器不需要准确的几何模型来抓握。通过设计柔软的手指和手，将启用新的掌握计划和操纵的方法。将开发出一种新型的可促进系统，并以自然肌肉启发的功能支持计划和控制算法。Boader的影响：软机器人本质上是低成本的。负担得起的软操纵者将为老年人提供家庭助手或无行为能力，但是这些机器人必须能够像人们一样轻松地操纵自然世界。下一代机器人操纵器还将支持新的工厂自动化水平，其中机器人将与人类协同作用，其最终目标是降低美国的制造成本。拟议的软设备将提供一种新的方法来辅助和康复的机器人平台。它们的功能性属性将使他们能够与人类并作为身体的一部分并排工作，从而提高和提高人类的生产力和表现。这种新的可穿戴软机器人技术不仅可以帮助工人执行任务，还可以改善许多人的生活质量。此外，PI通过提供各个级别的研究培训，从高中老师和学生到本科和研究生以及博士后的各个级别的研究培训，具有悠久的研究和教育的悠久传统。计划与本科生，高中社区，妇女和少数群体接触一系列活动。