为软体机械臂设计实时力安全检测框架，避免触碰脆弱物体时超限受力。
Force-Safe Environment Maps and Real-Time Detection for Soft Robot Manipulators
- 将任务空间的力安全约束映射到关节空间，实现力安全判断
- 在仿真与硬件实验中准确检测与可变形障碍物交互时的力安全状态
- 适用于需要高精度力控的精密操作场景，如医疗或柔性装配
软体机械臂有望在精细环境中执行复杂操作任务。然而，现有障碍物检测与避障方法未考虑机械臂与脆弱障碍物接触时的受力限制。本文提出一种将力安全准则从任务空间（即机械臂各位置）映射至配置空间（即关节角度）的框架，实现力安全的实时检测。通过前向运动学，将特定任务空间障碍物允许的最大接触力限制映射到配置空间（C-space），确保被标记为安全的配置必然低于最大力阈值，从而实现实时力安全配置判定。我们在一个双节气动软体机械臂上进行了仿真与硬件验证。结果表明，该方法能准确检测与可变形障碍物交互过程中的力安全性，为在复杂、拥挤的精细环境中实现实时安全规划奠定了基础。
原文摘要 · Abstract (English)
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may exert upon contact with delicate obstacles. This work introduces a framework that maps force safety criteria from task space (i.e. positions along the robot's body) to configuration space (i.e. the robot's joint angles) and enables real-time force safety detection. We incorporate limits on allowable environmental contact forces for given task-space obstacles, and map them into configuration space (C-space) through the manipulator's forward kinematics. This formulation ensures that configurations classified as safe are provably below the maximum force thresholds, thereby allowing us to determine force-safe configurations of the soft robot manipulator in real-time. We validate our approach in simulation and hardware experiments on a two-segment pneumatic soft robot manipulator. Results demonstrate that the proposed method accurately detects force safety during interactions with deformable obstacles, thereby laying the foundation for real-time safe planning of soft manipulators in delicate, cluttered environments.
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