适应能量参考时间域被动性控制触觉接口的触觉接口
IEEE transactions on haptics
|December 11, 2023
概括
本研究为触觉设备引入了一种适应性能量参考时间域被动性方法 (TDPA). 新方法减少了与未知,延迟的虚拟环境交互时的突发力变化.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 控制系统 控制系统
背景情况:
- 触觉设备使远程和虚拟任务操作成为可能.
- 基于被动性的控制器通过反环境力量来确保稳定性.
- 传统的时间域被动性方法 (TDPA) 面临的挑战是突然的力变化.
研究的目的:
- 呈现适应性能量参考TDPA以减轻触觉相互作用中的突发力变化.
- 为了使触觉接口能够与延迟和未知的环境进行交互,并减少保守主义.
- 开发一个能够适应不同环境动态和时间延迟的控制器.
主要方法:
- 适应性能量参考TDPA通过被动估计交互期间的触觉接口能量来学习能量参考.
- 使用力和速度数据来确定参考能量,消除了对环境动态或时间延迟的预先知识的需求.
- 控制器的性能通过模拟和使用未知的环境参数的实验设置来评估.
主要成果:
- 与传统的TDPA相比,拟议的适应性能源参考TDPA有效地减少了突然的力变化.
- 该方法证明了对与延迟和未知的环境交互的触觉接口的适用性.
- 控制器成功地适应不同的环境和时间延迟,而不会增加保守主义.
结论:
- 适应性能源参考TDPA为在复杂环境中运行的触觉设备提供了更好的性能.
- 这种方法提高了稳定性,并减少了实时触觉反系统中不必要的力波动.
- 控制器的适应性使其适用于各种触觉应用,环境条件不确定.
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