公开(公告)号：WO2017192829A1

公开(公告)日：2017-11-09

申请号：PCT/US2017/031024

申请日：2017-05-04

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： PIRASMEPULKUL, Saraj ,  CARACAPPA, Alexander ,  LUXSUWONG, Peerapat ,  ONAL, Cagdas D. ,  MICHALSON, William ,  KHUU, Tri ,  LUO, Ming

IPC: B25J13/08

Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.

Abstract translation: 响应于远程操作器的环形致动器用于响应于施加到抓握物体的曲率或关节运动来提供触觉反馈。 环形致动器围绕诸如手指的操作员部件，并且响应于气动压力以增加由抵抗远程操作的机器人爪的阻力所限定的临场感力。 当远程操作的爪抓住物体时，环形致动器中的增加的气压倾向于以线性方式延长环形形状并且抵抗由插入的操作者手指施加的弯曲力。 抵抗力是基于对被夹物体的软感测，因此当螺线管调节的气压使机器人爪围绕被夹物体闭合时，环形致动器对曲率施加增大的阻力。 一个典型的组装包括至少3个两位数的环形致动器和一个操作员的拇指。