Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control

具有触觉反馈的协作辅助机器人系统：传感和控制

• 批准号: RGPIN-2016-04952
• 负责人: Pan, YaJun
• 金额: $ 2.4万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=684614
• 关键词: Cooperative; Assistive; Robotic; Systems; Haptic

With the need to accomplish more complicated work by robots, increasing attention has been paid to cooperative assistive robotics systems and technologies over the past decades. The proposed work on sensing, control and optimization of cooperative assistive robotic systems addresses one of the recognized major challenges and opportunities for control researchers. The results of the research will lay the ground work for the development of cooperative robotic systems with potential applications in industrial manufacturing, military applications, environmental monitoring, transportation, space exploration, medical applications and health care services. The results of the proposed research will help the industry to offer operating convenience and increase economic efficiency, as well as offer benefit to people required medical interventions and physical assistance. Cooperative robotic systems have advantages over a single robot, such as increased dexterity, improved handling capability, increased loading capacity and enhanced robustness due to redundancy. Much existing work lacks a good framework for coordination strategies due to the complexity of the whole system. The integration of two key components, sensing and control, is not optimized and needs co-design for specific applications. The issues related to unknown environment model, dynamics, coordination mechanism to dynamic environment, imperfect sensors, communication constraints, and performance evaluation index have not been well addressed. ***The short term objectives of the proposed research are: to develop assistive robotic platforms with haptic feedback for manufacturing, medical applications and rehabilitation respectively, as well as sensing based motion control in the existence of limited measurement, uncertainties and disturbances; to propose numerous cooperative control strategies for multiple assistive robots for cooperative tasks in which a single robot is not enough to accomplish dexterous tasks, as well as to define performance indices in evaluating how to reach cooperative agreement, to optimize the useful information for feedback from multiple sources subject to communication constraints, and to address the robustness and synthesis issues among the multiple robotic systems.***Specifically, the following issues are to be investigated: 1) Assistive robotic systems with haptic feedback - sensing and motion control; 2) Cooperative control of multi-assistive robotic systems with haptic feedback. Specifically, three applications will be investigated: i) Cooperative mobile manipulators; ii) Cooperative surgical robotic devices for tasks in confined workspace with haptic feedback; iii) Cooperative wearable exoskeleton robotic devices for rehabilitation.**

随着机器人完成更复杂工作的需要，在过去的几十年里，协作辅助机器人系统和技术受到越来越多的关注。拟议的协作辅助机器人系统的传感、控制和优化工作解决了控制研究人员公认的主要挑战和机遇之一。研究结果将为协作机器人系统的开发奠定基础，该系统在工业制造、军事应用、环境监测、交通、太空探索、医疗应用和医疗保健服务等领域具有潜在的应用前景。拟议研究的结果将帮助该行业提供操作便利并提高经济效益，并为需要医疗干预和身体援助的人们提供福利。协作机器人系统比单个机器人具有优势，例如增加灵活性、提高处理能力、增加负载能力以及由于冗余而增强鲁棒性。由于整个系统的复杂性，许多现有工作缺乏良好的协调策略框架。传感和控制这两个关键组件的集成尚未优化，需要针对特定​​应用进行协同设计。未知环境模型、动力学、动态环境协调机制、传感器不完善、通信约束、性能评价指标等问题尚未得到很好的解决。 ***拟议研究的短期目标是：开发分别用于制造、医疗应用和康复的具有触觉反馈的辅助机器人平台，以及在存在有限测量、不确定性和干扰的情况下基于传感的运动控制；为多个辅助机器人提出多种协作控制策略，以完成单个机器人不足以完成灵巧任务的协作任务，并定义评估如何达成协作协议的性能指标，优化来自多个机器人反馈的有用信息***具体来说，需要研究以下问题：1）具有触觉反馈的辅助机器人系统 - 传感和运动控制； 2）具有触觉反馈的多辅助机器人系统的协作控制。具体来说，将研究三个应用：i）协作移动机械手； ii) 协作手术机器人设备，用于在有限工作空间中执行具有触觉反馈的任务； iii) 用于康复的协作式可穿戴外骨骼机器人设备。**