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首页> 美国卫生研究院文献>Frontiers in Neuroscience >On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators
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On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

机译：机械臂虚拟遥控操作中人体刚度估算的价值

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摘要

Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.
机译：远程操作机器人系统广泛地扩散到从危险环境勘探到手术的多个不同领域。在远程操作中，用户直接操作主设备以在从属机器人侧实现任务执行；这种交互是确保系统稳定性和任务执行性能的基础。在这项工作中，我们提出了一种无干扰的方法来研究手臂的端点僵硬。我们评估用户在使用不同的主设备执行不同任务期间，如何利用手臂的动能冗余来实现稳定性和精度。要求四名用户在虚拟任务之后使用串行和并行链接主设备执行两条平面轨迹。获得了用户的手臂运动学和肌肉激活，并结合了用户特定的肌肉骨骼模型来估计关节的僵硬程度。使用手臂运动学的雅可比矩阵，得出手臂的端点刚度。所提出的无干扰方法能够在执行虚拟远程操作任务期间估计手臂端点的刚度。所获得的结果符合人类运动控制方面的现有文献，并显示了在整个测试轨迹中，受任务特性以及手速和加速度影响的手臂端点刚度的调制。

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