Haptic Sensory Glove for Humans and Robots

适用于人类和机器人的触觉手套

基本信息

批准号：
8207133
负责人：
MANDAYAM A SRINIVASAN
金额：
$ 9.99万
依托单位：
YANTRIC, INC.
依托单位国家：
美国
项目类别：
财政年份：
2012
资助国家：
美国
起止时间：
2012-03-01 至 2013-08-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/8207133
关键词：
Address Algorithms Area Automation Awareness Beryllium Characteristics Cognitive Communication Consumption Detection Development Documentation Engineering Environment Equipment and supply inventories Feedback Fingers Frequencies Hand Hardness Human Limb structure Measurement Mechanics Mechanoreceptors Mediating Medical Monitor Motion Movement Mus Operative Surgical Procedures Performance Phase Property Resolution Robot Robotics Running Sampling Sensory Shapes Signal Transduction Skin Slave Social Interaction Software Design Sorting - Cell Movement Specific qualifier value Surface System Systems Development Systems Integration Tablets Tactile Temperature Testing Texture Time Touch sensation Traction Training and Education User-Computer Interface Weight base computerized data processing cost design grasp haptics improved information gathering interest novel operation orthotics pressure response sensor skin patch software development transmission process vibration virtual virtual reality

项目摘要

DESCRIPTION (provided by applicant): The overall objective of the proposed Phase-I project is to design a Haptic Sensory Glove with Smart Skin patches that have tactile sensing capability to enable a large variety of applications involving human hands, robot hands and interactions between the two. The specific aims of the proposed Phase I project include (1) Specification development for the sensory glove; (2) Development of tactile sensor array based on a commercial off the shelf product as well as a novel customized array from the MIT Touch Lab; (3) Skin and substrate compliant layer development; (4) Testing the sensor patches on robotic hands; (5) Algorithms and software development for decoding sensor information; (6) Completing the haptic sensory glove system integration; (6) Estimate system development cost and develop technical documentation. The project is expected to result in improved hardware and software design of tactile sensing arrays for enabling sensory and manipulation capabilities of robots and monitoring how humans use their hands in haptic tasks. The Smart Skin and the Haptic Sensory Glove proposed above have a wide variety of immediate applications as illustrated in this partial list: (1) Autonomous robot hands: monitoring and control of contact tasks in manufacturing, inventory sorting, hazardous environments; (2) Autonomous human hands: dynamic measurement of spatial pressure profiles of normal and impaired hand performance in various haptic tasks including handling of real, virtual or teleoperated objects; (3) Human-Computer Interfaces: Augmentation of applications involving touch tablets and screens, tactile mouse and haptic interfaces, all applications of virtual reality such as gaming, education and training; (4) Human-Robot Interaction: monitoring and control of direct interactions between human and robot hands as well as in improved master and slave systems for teleoperation applications ranging from hazardous operations to robot mediated surgery. PUBLIC HEALTH RELEVANCE: The proposed Haptic Sensory Glove is expected to have applications in both human and robot domains including interactions between the two. In particular, the medical applications of the Glove include (1) dynamic measurement of spatial pressure profiles of normal and impaired hand performance in various haptic tasks including handling of real, virtual or teleoperated objects and (2) improved master and slave systems for teleoperation applications such as robot mediated surgery.

描述（由申请人提供）：拟议的I期项目的总体目的是设计带有智能皮肤斑块的触觉感觉手套，具有触觉感知能力，以实现涉及人手，机器人手和两者之间相互作用的各种应用。提议的I期项目的具体目的包括（1）感官手套的规范开发；（2）基于货架产品的商业商业以及MIT Touch Lab的新颖定制阵列开发触觉传感器阵列；（3）皮肤和衬底层的层发育；（4）在机器人手上测试传感器斑块；（5）用于解码传感器信息的算法和软件开发；（6）完成触觉感觉手套系统的集成；（6）估计系统开发成本并制定技术文档。预计该项目将改善触觉传感阵列的硬件和软件设计，以实现机器人的感觉和操纵功能，并监视人类如何在触觉任务中使用双手。智能皮肤和上面提议的触觉感手套具有多种直接应用，如此部分列表中所示：（1）自主机器人手：监视和控制制造，库存分类，危险环境中的接触任务；（2）自主人的手：在各种触觉任务中的正常和手部表现受损的空间压力曲线的动态测量，包括处理真实，虚拟或远程处理对象；（3）人类计算机界面：涉及触摸平板电脑和屏幕，触觉鼠标和触觉接口的应用程序的增加，虚拟现实的所有应用，例如游戏，教育和培训；（4）人类机器人的互动：监测和控制人与机器人手之间的直接相互作用，以及在改进的主体和奴隶系统中，用于远距离应用，从危险操作到机器人介导的手术。公共卫生相关性：提出的触觉感觉手套有望在人类和机器人领域中都有应用，包括两者之间的相互作用。特别是，手套的医疗应用包括（1）在各种触觉任务中的正常和手动性能的空间压力曲线的动态测量，包括处理真实，虚拟或远程处理对象，以及（2）改进的远程处理应用程序和从属系统例如机器人介导的手术。