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A Pneumatic Force Reflector in Bilateral Control System

机译：双侧控制系统中的气动力反射器

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摘要

Force reflector is widely used in bilateral control systems as a force feedback tool. In this paper a pneumatic force reflector has been put forward, based on the analysis of the Internet based bilateral control system. This paper has adopted a passive force generation mechanism, so that the valve controlled cylinder positioning system can be used as both the force reflector and the transducer of the operator's response. Another advantage of this force reflector is that it avoids modeling the human operator and thus keeps system stable and easy to operate due to the passivity of it. The mechanism on how to generate required feedback force using the pneumatic cylinder has been discussed, together with its control model and implementation. Several experiments have been conducted based on a teleoperation use case: the human operator using this force reflector to control a pneumatic robot through the Internet. The experimental results are provided in this paper, followed by a detailed discussion.
机译：力反射器广泛用于双边控制系统中作为力反馈工具。在本文中，基于基于互联网的双边控制系统的分析，已经提出了一种气动力反射器。本文采用被动力产生机制，使得阀控缸定位系统可以用作力反射器和操作者响应的换能器。该力反射器的另一个优点是它避免了建模人员操作员，从而使系统保持稳定且易于操作由于它的钝化。已经讨论了如何使用气缸产生所需的反馈力的机制，并与其控制模型和实现一起进行了讨论。已经基于智托使用案例进行了几个实验：人类操作员使用该力反射器通过互联网控制气动机器人。本文提供了实验结果，其次是详细讨论。

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