A Novel 6‑DOF Force‑Sensed Human‑Robot Interface for an Intuitive Teleoperation

作     者：Zihao Li Fugui Xie Yanlei Ye Peng Li Xinjun Liu Zihao Li;Fugui Xie;Yanlei Ye;Peng Li;Xinjun Liu

作者机构：State Key Laboratory of Tribology in Advanced EquipmentDepartment of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra‑Precision Manufacturing Equipments and ControlTsinghua UniversityBeijing 100084China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第6期

页      面：76-88页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Key Research and Development Program of China(Grant No.2019YFB1309900) Shandong Provincial Key Research and Development Program of China(Grant No.2019JZZY010432) Institute for Guo Qiang,Tsinghua University,China(Grant No.2019GQG0007) 

主　　题：Force-sensed interface Haptic control Force coupling Teleoperation Human-robot interaction 

摘      要：The teleoperation of a 6 degrees-of-freedom(DOF)manipulator is one of the basic methods to extend people’s capabilities in the wide variety of *** master interface based on the force/torque(FT)sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command ***,due to the force coupling,noise disturbance and unlimited input signals of the FT sensor,this force-sensed interface could not be widely used in *** this paper,we present an intuitive teleoperation method based on the FT sensor to overcome these *** this method,the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm,with the merits of anti-interference,output limitation,and online velocity ***,based on the admittance control and position controller,the manipulator could be teleoperated by the force *** experiments were conducted on our self-designed robotic *** result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit ***,a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit *** proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.