用低成本柔性传感器实现高稳定远程操作，支持异构机械臂协同
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
- 双端部署柔性六维力位姿传感器，构建解耦式遥操作框架
- 系统在120±40毫秒延迟下仍稳定运行，虚拟刚度匹配度高
- 适用于异构机械臂，适合需要低成本高鲁棒性的远程操控场景
现有双向遥操作平台仍依赖昂贵的刚性六轴力/力矩传感器、紧密耦合的主从硬件结构及千赫级控制周期。本文提出基于硬件无关的WinGs操作工作室（WOS）中间件的笛卡尔空间双向框架，两端均安装低成本柔性六自由度力位姿传感末端执行器Delta6，使每个机械臂表现为六自由度串行弹性执行器（SEA）。主端采用仅阻尼的导纳环路并配置六维双二次陷波滤波器；从端通过位置外环实现刚度-阻尼阻抗控制，采用PID力到位姿映射。明确解耦三个时间尺度（硬件输入输出、中频阻抗/导纳、低频遥操作消息），使同一应用可驱动异构机械臂。在Lite6/FR3测试平台上以150 Hz运行，系统在高达120±40毫秒延迟和1%丢包条件下保持稳定，接触时匹配预定虚拟刚度，并在无源性测试中表现出良好累积能量特性。
原文摘要 · Abstract (English)
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We present a Cartesian bilateral framework built on the hardware-agnostic WinGs Operating Studio (WOS) middleware, in which a low-cost compliant 6-DOF pose-and-force sensing end-effector, Delta6, is mounted on both sides so that each manipulator behaves as an end-effector 6-DOF series elastic actuator (SEA). The leader runs a damping-only admittance loop with a 6-D biquad notch filter; the follower realizes a stiffness-damping impedance through a position-based outer loop with a PID wrench-to-pose mapping. Three time scales (hardware I/O, mid-rate impedance/admittance, low-rate teleoperation messages) are explicitly decoupled, enabling the same application to drive heterogeneous arms. On a Lite6/FR3 testbed at 150 Hz, the system tracks stably under delays up to $120\pm40$ ms and 1% packet loss, matches the prescribed virtual stiffness in contact, and shows a favorable cumulative energy signature in passivity-style tests.
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