用协作机械臂实现双手触觉反馈，提升操作透明度与舒适性。
Development of a Collaborative Robotic Arm-based Bimanual Haptic Display
- 优化机械臂布局与补偿惯性摩擦，提升工作空间与操作精度。
- 实测显示系统显著降低用户疲劳，交互更自然流畅。
- 适合远程操控、虚拟装配等需要双手触觉反馈的应用场景。
本文提出一种基于协作机械臂的双臂触觉显示系统。针对现有机械臂触觉设备存在的局限，通过优化装置布局并引入惯性/摩擦补偿技术，实现了更大工作空间覆盖、更高灵活性与更强触觉反馈能力，同时保障碰撞安全。惯性与摩擦补偿显著提升了系统的透明度，减少了用户疲劳感，使交互更加无缝自然。系统在真实与模拟环境下的双臂双向遥操作应用中得到验证，展现出良好的性能。本研究为利用协作机械臂构建高性能双臂触觉显示提供了一种实用且高效的技术方案。
原文摘要 · Abstract (English)
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation techniques. The optimized setup configuration maximizes workspace coverage, dexterity, and haptic feedback capability while ensuring collision safety. Inertia/friction compensation significantly improve transparency and reduce user fatigue, leading to a more seamless and transparent interaction. The effectiveness of our system is demonstrated in various applications, including bimanual bilateral teleoperation in both real and simulated environments. This research contributes to the advancement of haptic technology by presenting a practical and effective solution for creating high-performance bimanual haptic displays using collaborative robot arms.
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