ERI: Tool Grasping Compliance and Stability of Underactuated Hands in Model-Mediated Telemanipulation

ERI：模型介导远程操作中欠驱动手的工具抓取顺应性和稳定性

• 批准号: 2138896
• 负责人: Long Wang
• 金额: $ 20万
• 依托单位: Stevens Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-06-01 至 2025-05-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2138896&HistoricalAwards=false
• 关键词: ERI; Tool; Grasping; Compliance; Stability

This award is funded in whole or in part under the American Rescue Plan Act of 2021 (Public Law 117-2).This Engineering Research Initiation (ERI) grant supports research that will contribute new knowledge related to a manufacturing process, promoting the progress of science, and advancing national prosperity. Robot manipulators are known for high precision and repeatability. They have been widely used in well-defined and fully automated industrial settings. However, ad-hoc, highly uncertain, and complex manipulation tasks still require on-site presence and assistance from human crew. Many such tasks present hazardous and challenging environments, such as in the case of factory operations during a pandemic. This project aims to empower the workforce by enabling their versatile and dexterous capabilities for remotely operated manipulation tasks. A novel model-mediated telemanipulation framework will be developed for the workforce, to extend their physical reach, their hands-on manipulation dexterity, and their situational awareness intelligence, from local to a remote site. These advanced telemanipulation technologies will have substantial impact on society and the economy, helping facilitate safe manufacturing working environments for the workforce. From an educational perspective, this project promotes diversity in engineering education by inspiring and preparing students in under-served communities for science, technology, engineering, and mathematics (STEM) careers at the high school and college levels.This project seeks to develop enhanced teleoperation methods to bridge the current gaps of using grasped tools in remotely operated manipulation tasks, such as, fastening a screw with a grasped screwdriver. The key research objective of this project is to investigate tool grasping compliance and stability in force-controlled manufacturing tasks and explore its usage in model-mediated telemanipulation. First, a framework is developed for estimating tool grasping compliance matrices of underactuated robotic hands using combined feedback from hand sensors (joint angles and proprioception) and wrist-mounted force and torque sensors. Then, the estimated compliance is used to infer grasping status and stability and to develop novel force control strategies. Finally, the tool grasping information is incorporated in model-mediated telemanipulation to design and implement a novel grasping-informed virtual fixture haptic assistance. Thereby, a complete solution for user-driven remotely operated manipulation tasks can be delivered.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该奖项是根据2021年《美国救援计划法》的全部或部分资助的（公共法117-2）。本工程研究启动（ERI）的赠款支持将为与制造过程相关的新知识的研究，从而促进科学，并促进民族繁荣。机器人操纵器以高精度和可重复性而闻名。它们已被广泛用于定义明确且完全自动化的工业环境中。但是，临时，高度不确定和复杂的操纵任务仍然需要人类机组人员的现场存在和帮助。许多这样的任务都呈现出危险和具有挑战性的环境，例如在大流行期间的工厂运营中。该项目旨在通过启用其多功能和灵活的功能来实现远程操作的操纵任务来增强劳动力的能力。将为劳动力开发一个新颖的模型介导的远程接管框架，以扩展其身体覆盖范围，动手操纵敏捷性以及他们的情境意识智能，从本地到远程站点。这些先进的远程接管技术将对社会和经济产生重大影响，帮助促进劳动力的安全制造业环境。从教育的角度来看，该项目通过启发和准备科学，技术，工程和数学（STEM）职业的学生在高中和大学级别的职业来促进工程教育的多样性。在远程操作的操作任务中使用握把工具的当前差距的方法，例如将螺钉用握把的螺丝刀固定。该项目的关键研究目标是调查工具掌握的依从性和稳定性，以控制力控制的制造任务，并探索其在模型介导的远距离化中的用法。首先，开发了一个框架，用于使用手动传感器（关节角度和本体感受）的组合反馈以及腕部安装的力和扭矩传感器来估算未成熟的机器人手的合规性矩阵。然后，估计的合规性用于推断抓地状态和稳定性，并制定新型的力量控制策略。最后，该工具抓握信息已包含在模型介导的远程启动中，以设计和实施一种新颖的握把信息的虚拟固定装置触觉辅助。因此，可以执行针对用户驱动的远程操作任务的完整解决方案。该项目得到了机器人计划中的跨领域基础研究的支持，该项目由工程和计算机和信息科学和信息科学和信息科学局共同管理和资助工程（CISE）。该奖项反映了NSF的法定任务，并被认为是使用基金会的知识分子优点和更广泛的影响评论标准的评估值得支持的。