面向多自由度仿生手臂的“感联知控”一体化精细操作理论研究

Fine manipulation, service assistive robotics, medical rehabilitation require the development of intelligent sense, fusion, cognition and control, the project shall investigate the integration of sense, fusion, cognition, and control for bionic robot arm, which can reveal the fundamental mechanism of fine manipulation. Through analyzing and integrating multiple information and eliminating of the difference between data structures, time scales, and space dimensions, an unified cognition and control for the external environments can be built up to realize the high fine manipulation for bionic robotic arms. The project develops the methods based on an unified cognition and control for bionic robotic arm. The research shall provide the theory for the manipulation and control and improve the manipulation of bionic robotic arms. Research on basic science problems will provide high-quality, high-precision robotic manipulation for theoretical significance and practical value.

基于面向机器人精细化操作、助老助残服务机器人、医学康复等领域中对仿生手臂的迫切需求，针对感知运动的关键科学问题，提出面向多自由度仿生手臂的“感联知控”一体化精细操作理论研究，揭示触觉、温度、力觉、滑觉、肌电等多源物理信息的感知、融合和仿生控制机理。针对仿生手臂的伸抓动作，通过多源物理信息采集，进行数据融合机理的分析综合，消除不同信息在数据结构、时间尺度和空间维度上的差异，对外部环境形成统一的认识，捕捉人手臂在任务空间和关节空间中力和阻抗控制技能，探索基于运动技能学习的仿生手臂伸抓控制方法，实现仿生手臂对外部环境的分析和对物体伸抓操作。本项目是仿生手臂一体化操作基础研究领域具有原创性的理论探索，该研究的理论和方法将为仿生手臂操作理论研究提供新的思路，并促进机器人仿生假肢和外骨骼机器人操控水平的提高。