无需力传感器，用逆动力学模型实现人级遥操作的高透明度控制。
Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation
- 通过逆动力学建模替代传统力/扭矩传感器，实现无感四通道控制。
- 实验表明位置与力跟踪更精准，操作者用力更少，可传递阻抗更高。
- 适合需要高精度、长时人机交互的真实场景，如工业协作或康复应用。
四通道遥操作架构是实现双边系统透明性的经典框架，但在人级遥操作中受限于高惯性、建模困难以及对噪声大且昂贵的力/扭矩传感器的依赖。本文提出一种基于逆动力学建模的无传感器四通道架构，控制器在定制化的WAM双边遥操作平台上实现并验证。实验结果表明，该方法优于传统的二通道和四通道方案，以及现有透明度增强方法，在不使用外部传感器的情况下，提升了位置与力的跟踪性能，降低了操作者努力程度，并提高了最大可传递阻抗。一次涉及操纵器全身持续接触的开门任务案例进一步证明了该方法在真实人级操作任务中的有效性。
原文摘要 · Abstract (English)
The four-channel teleoperation architecture is a well-established framework for achieving transparency in bilateral systems. However, its performance in human-scale teleoperation is limited by high inertia, modeling challenges, and reliance on noisy and costly force/torque sensors. This paper introduces a sensorless four-channel architecture based on inverse dynamics modeling. The controller is implemented and validated on a customized WAM bilateral teleoperation setup. Experiments demonstrate that the proposed approach outperforms conventional two- and four-channel schemes as well as transparency-enhancement methods, improving position and force tracking, reducing operator effort, and increasing maximum transmittable impedance without external sensors. A door-opening case study involving sustained whole-body contact along the manipulator further demonstrates the effectiveness of the method in realistic human-scale manipulation tasks.
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