用可调张力电缆系统精准模拟手术机器人受力，解决触觉反馈难题。
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
- 六组电机-缆绳单元环绕工作区，通过调节张力施加外部力。
- 实验表明力控误差小于1牛，具备高精度力反馈能力。
- 适合需要真实力反馈训练数据的医疗机器人研究者。
手术机器人触觉反馈难题已存在数十年。近年来，基于机器人状态的机器学习力估计方法展现出高精度潜力，且无需额外传感器。但获取代表性训练数据仍具挑战，需在不同外力作用下使机器人在工作空间中运动。本文开发了一套并联电机-缆绳系统：在机器人工作区周围安装六个电机-缆绳单元，通过可控张力的缆绳连接机械臂末端，可在不干扰运动的前提下施加目标外力。系统包含电机单元硬件、控制软件、传感器驱动程序及仿真模块。初步实验显示，力控误差低于1 N，验证了其高精度可行性。
原文摘要 · Abstract (English)
Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, learning-based force estimation from robot states suggests desirable accuracy without the necessity of extra sensors. However, challenges remain in obtaining representative training data in which the robot moves in the workspace under various external forces. In this work, a parallel motor-cable system is developed. With six motor-cable units installed around the robot workspace, cables with controllable tension connected to the robot end-effector can provide the desired external force without interfering with the movement of the surgical robot. The development of the system includes motor-unit hardware, control software, sensor drivers, simulations, and more. Preliminary experiments suggest an accuracy of force actuation with errors less than 1 N.
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