Abstract
In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.
Highlights
Many kinds of assistant robots have been developed to help human operators implement complex tasks in different fields of application
The force sensing resolution of the system mainly relies on the efficiency of the two gear boxes (refer to Equation (2)), and a value around 1.626 is enough for human operators to sense the variation of the reaction force
This paper presented a bimanual training device to confirm the feasibility of the force sensing mechanism thoroughly
Summary
Many kinds of assistant robots have been developed to help human operators implement complex tasks in different fields of application. Based on force feedback/sensation, operators can regulate the control/input force to further reduce the pain suffered by patients during the process of rehabilitation training, or mis-operations in surgery and other kinds of manipulations. Experimental results have verified that the force cues had a positive effect on increasing the productive torque activity of the impaired arm. The system supports both passive and active movements including slow and fast tasks For both slow and fast movements, transparent haptic feeling enables clinicians to give a correct assessment of the motion capability of patients and to regulate the training strategy properly. The system realized master-slave mirror-symmetric movements, which is an essential requirement for performing various operations in robotic systems designed for rehabilitation [25,26,27,28], medical operation [29], remote control [30], and so on. Except for a further verification of the force sensing performance, frequency response range and the sensing capability in resistant and assistant forces were confirmed
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