一个可穿戴的手腕触觉显示器用于在操作空间的运动跟踪和力反
Marco Laghi1,2, Manuel G Catalano1, Giorgio Grioli1
1Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy.
Wearable technologies
|March 15, 2024
概括
这项研究介绍了可穿戴的Delta (W),这是一种用于机器人远程操作的新型手腕接口. 这种动感触觉显示器 (KHD) 通过向用户提供直接的力量反来增强远程感知.
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
- 触觉学是指触觉学是指触觉学.
背景情况:
- 机器人远程操作中的力量反增强了用户的感知.
- 现有的动感触觉显示器 (KHDs) 通常集中在上肢关节或缺乏直接的手接口.
- 需要专门的触觉设备来实现手腕在远程手术中的运动.
研究的目的:
- 为了介绍可穿戴的Delta (W),一个新的概念验证可穿戴的手腕接口.
- 为了使用户的手能够直接提供力量,以增强远程感知.
- 研究W的可用性和性能,以控制机器人手臂.
主要方法:
- 开发了一个6DoF可穿戴的手腕接口,具有混合并行串行动力学.
- 集成的位置/惯性传感器,用于完全控制机器人手臂.
- 进行了多主题实验活动,以评估可用性和性能.
主要成果:
- 可穿戴式三角形 (W) 成功地将力量反直接转移到手上.
- 该设备允许远程控制一个全关节机器人手臂.
- 实验结果为W的优势,局限性和可用性提供了见解.
结论:
- 可穿戴的Delta (W) 提供了一个有前途的解决方案,用于基于手腕的远程操作和力反.
- 该设计尽量减少对用户自然手腕运动范围的阻碍.
- 进一步的研究可以探索这种触觉界面的改进和未来应用.
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