Developing force feedback for human-robot interactions with telerobotic manipulators
Notice bibliographique
Résumé
Robotic manipulators are being used for a growing number of applications. However, one concern with robotic manipulators is that they have a limited awareness of its environment. This can cause issues with safety or control of the manipulator. Therefore, it is important to develop sensor systems for different applications. This research is part of the Musculoskeletal Tele-robotic Imaging Machine (MSK-TIM) project at the University of Saskatchewan. The purpose of this project is to develop a remotely controlled robotic manipulator to conduct medical ultrasound examinations. In human-robot interactions, safety of the human is paramount. Therefore, this research investigates two different methods to measure the contact load: a load cell and a material model. To investigate using a load cell in a teleoperated system, a 1 degree-of-freedom (DOF) force sensor was installed, and remote control of the manipulator was developed. Other upgrades include developing a graphical user interface (GUI) and supporting remote control of ultrasound parameters. Using this system, an experienced radiologist conducted remote examination of 24 arms. Afterward, both the radiologist and participants reported their experience. The changes to the MSK-TIM were found to improve the function of the device, especially image quality. The visual force feedback was noted by the radiologist to be a useful tool as it indicated when the applied force exceeded recommended limits. To investigate the material-model method of obtain force-feedback, a finite element model of the arm-probe interaction was generated. The geometry of the soft tissue was obtained using photogrammetry. Experimental stiffness behaviour of the wrist was captured using the MSK-TIM. This data was used in model-correction analysis to obtain the first-order Ogden hyper-elastic material parameters of the soft tissue within the wrist. As a result, the developed finite element model could predict the contact force based on the displacement of the ultrasound probe into the skin. Several changes were then applied to the original model to optimize its computational efficiency. The final model was shown to be reasonable for real-time applications. As a result of this study, it has been shown that both a load cell and material model can be used to predict the contact force of a human-robot interaction.
Récupéré en direct depuis OpenAlex et désinversé. Les résumés ne sont pas conservés dans cette base de données : les index inversés représentent 8,6 Go des 9,3 Go de texte de la base, et le serveur dispose de 13 Go libres.
Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,001 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,001 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».