[1]熊鹏文,雷耀,李鸣.基于GRNN的人机交互下遥操作力预测方法[J].东南大学学报(自然科学版),2018,48(6):1130-1136.[doi:10.3969/j.issn.1001-0505.2018.06.021]
 Xiong Pengwen,Lei Yao,Li Ming.Teleoperation force perception method in human-computer interaction based on GRNN[J].Journal of Southeast University (Natural Science Edition),2018,48(6):1130-1136.[doi:10.3969/j.issn.1001-0505.2018.06.021]
点击复制

基于GRNN的人机交互下遥操作力预测方法()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
48
期数:
2018年第6期
页码:
1130-1136
栏目:
自动化
出版日期:
2018-11-20

文章信息/Info

Title:
Teleoperation force perception method in human-computer interaction based on GRNN
作者:
熊鹏文12雷耀2李鸣2
1东南大学仪器科学与工程学院, 南京 210096; 2南昌大学信息工程学院, 南昌 330031
Author(s):
Xiong Pengwen12 Lei Yao2 Li Ming2
1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2School of Information Engineering, Nanchang University, Nanchang 330031, China
关键词:
遥操作系统 人机交互 信息融合 GRNN
Keywords:
teleoperation system human-computer interaction information fusion GRNN(generalized regression neural network)
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2018.06.021
摘要:
为了解决人机交互作业时操作人员不能准确感知末端接触力信息的问题,提出了一种基于GRNN信息融合的方法.基于主动端的力反馈手控器和从动端的遥操作机器人,搭建实验操作平台,以人为中心构建整个系统,同步采集手控器的姿态信号、手臂肌电信号以及末端机器人的速度、加速度和接触力信息训练GRNN,并将GRNN得到的预测力与真实力进行比较.结果显示,采用纸盒和泡沫板2种不同材料进行穿刺实验的均方误差值分别为0.24和0.16,泡沫板进行穿刺和切割2种不同作业得到的均方误差值分别为0.16和0.13,从而证明了所提方法的有效性.
Abstract:
In order to solve the problem that the operators can not accurately sense the contact force information in the teleoperation, an information fusion method based on GRNN(generalized regression neural network)was proposed. The teleoperation platform was built based on the force feedback hand controller in the active side and the teleoperation robot in the slave side. The operator in the whole system was considered as the center. The gesture signal of the hand controller, the electromyographic signal in the arm, the velocity, the acceleration and contact force information of the end robot were synchronously collected to train the GRNN. The prediction force by the GRNN was compared with the real contact force. The results show that the mean square errors in the puncture experiments with two different materials, the paper box and the foam board, are 0.24 and 0.16, respectively. The mean square errors in the puncture and cutting experiments with the foam board are 0.16 and 0.13, respectively. These prove the effectiveness of the proposed method.

参考文献/References:

[1] Michieletto S,Tosello E,Pagello E,et al. Teaching humanoid robotics by means of human teleoperation through RGB-D sensors[J]. Robotics and Autonomous Systems,2016,75: 671-678. DOI:10.1016/j.robot.2015.09.023.
[2] 纪鹏,宋爱国,吴常铖,等. 适用于移动机械手无关节状态反馈情况的基于人-机-机协作的无标定视觉伺服控制[J]. 机器人,2017,39(2): 197-204. DOI:10.13973/j.cnki.robot.2017.0197.
Ji Peng,Song Aiguo,Wu Changcheng,et al. Human-robot-robot-cooperation based uncalibrated visual servoing control for mobile robotic manipulators without joint-state feedback[J]. Robot,2017,39(2): 197-204. DOI:10.13973/j.cnki.robot.2017.0197. (in Chinese)
[3] Xiong P W,Zhu X D,Song A G,et al. A target grabbing strategy for telerobot based on improved stiffness display device[J]. CAA Journal of Automatica Sinica, 2017,4(4): 661-667. DOI:10.1109/jas.2016.7510256.
[4] Hubschman J P,Wilson J,Tsao T C,et al. Robotic eye surgery[J]. Ophthalmology,2010,117(4): 857. DOI:10.1016/j.ophtha.2009.11.010.
[5] 熊鹏文,宋爱国,东辉,等. 基于效率与安全机制的核电站巡检与应急机器人的局部路径优化方法[J]. 机器人,2015,37(2): 196-203. DOI:10.13973/j.cnki.robot.2015.0196.
Xiong Pengwen,Song Aiguo,Dong Hui,et al. Local path optimization for nuclear inspection and emergence robot based on efficiency and security mechanism[J]. Robot,2015,37(2): 196-203. DOI:10.13973/j.cnki.robot.2015.0196. (in Chinese)
[6] Yazdkhasti S,Sasiadek J Z. Space robot relative navigation for debris removal[J]. IFAC-PapersOnLine,2017,50(1): 7929-7934. DOI:10.1016/j.ifacol.2017.08.767.
[7] Luo J J,Zong L J,Wang M M,et al. Optimal capture occasion determination and trajectory generation for space robots grasping tumbling objects[J]. Acta Astronautica,2017,136: 380-386. DOI:10.1016/j.actaastro.2017.03.026.
[8] Sarli N,Rezaei S M,Shiry Ghidary S,et al. On stability and transparency of a time-discretized time-delayed impedance-controlled force-reflecting teleoperation[J]. IFAC Proceedings Volumes,2011,44(1): 1145-1150. DOI:10.3182/20110828-6-IT-1002.02735.
[9] Ganjefar S,Rezaei S,Hashemzadeh F. Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay[J]. Mechanical Systems and Signal Processing,2017,86: 308-324. DOI:10.1016/j.ymssp.2016.09.023.
[10] Sun D,Naghdy F,Du H P. A novel approach for stability and transparency control of nonlinear bilateral teleoperation system with time delays[J]. Control Engineering Practice,2016,47: 15-27. DOI:10.1016/j.conengprac.2015.11.003.
[11] Park J H,Cho H C. Sliding mode control of bilateral teleoperation systems with force-reflection on the Internet[C]//Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2000). Takamatsu,Japan,2000: 1187-1192. DOI:10.1109/IROS.2000.893180.
[12] Ishii T,Katsura S. Bilateral control with local force feedback for delay-free teleoperation[C]//2012 12th IEEE International Workshop on Advanced Motion Control(AMC). Bosnia-Herzegovina,2012: 1-6. DOI:10.1109/AMC.2012.6197100.
[13] Ueda J,Yoshikawa T. Force-reflecting bilateralteleoperation with time delay by signal filtering[J]. IEEE Transactions on Robotics and Automation,2004,20(3): 613-619. DOI:10.1109/tra.2004.825516.
[14] Daly J M,Wang D W L. Time-delayed bilateralteleoperation with force estimation for n-DOF nonlinear robot manipulators[C]//2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei,China,2010: 3911-3918. DOI:10.1109/IROS.2010.5649183.
[15] Daly J M,Wang D W L. Time-delayed output feedback bilateralteleoperation with force estimation for n-DOF nonlinear manipulators[J]. IEEE Transactions on Control Systems Technology,2014,22(1): 299-306. DOI:10.1109/tcst.2013.2242329.
[16] Lary D J,Alavi A H,Gandomi A H,et al. Machine learning in geosciences and remote sensing[J]. Geoscience Frontiers,2016,7(1): 3-10. DOI:10.1016/j.gsf.2015.07.003.
[17] 郭惠勇. 多传感器信息融合技术的研究与进展[J]. 中国科学基金,2005,19(1): 17-21. DOI:10.3969/j.issn.1000-8217.2005.01.004.
Guo Huiyong. Researches and advances in multi-sensor information fusion technology[J]. Bulletin of National Natural Science Foundation of China,2005,19(1): 17-21. DOI:10.3969/j.issn.1000-8217.2005.01.004. (in Chinese)
[18] 王宇,宋爱国,徐效农. 基于任务空间双模式结合的遥操作机器人系统[J]. 电子测量技术,2014,37(1): 24-29. DOI:10.3969/j.issn.1002-7300.2014.01.007.
Wang Yu,Song Aiguo,Xu Xiaonong. Design of teleoperation robot system based on a combination of dual-mode under the task space[J]. Electronic Measurement Technology,2014,37(1): 24-29. DOI:10.3969/j.issn.1002-7300.2014.01.007. (in Chinese)
[18] 王宇,宋爱国,徐效农. 基于任务空间双模式结合的遥操作机器人系统[J]. 电子测量技术,2014,37(1): 24-29.
  Wang Yu,Song Aiguo,Xu Xiaonong. Design of teleoperation robot system based on a combination of dual-mode under the task space[J]. Electronic Measurement Technology,2014,37(1): 24-29.(in Chinese)
[19] Karabulut D,Ortes F,Arslan Y Z,et al. Comparative evaluation of EMG signal features for myoelectric controlled human arm prosthetics[J]. Biocybernetics and Biomedical Engineering,2017,37(2): 326-335. DOI:10.1016/j.bbe.2017.03.001
[20] Silva A J,Ramirez O A D,Vega V P,et al.PHANToM OMNI haptic device: Kinematic and manipulability[C]//2009 Electronics,Robotics and Automotive Mechanics Conference(CERMA). Cuernavaca,Morelos,Mexico,2009: 193-198. DOI:10.1109/CERMA.2009.55.
[21] Specht D F. The general regression neural network: Rediscovered[J]. Neural Networks,1993,6(7): 1033-1034. DOI:10.1016/S0893-6080(09)80013-0.

相似文献/References:

[1]邵将,薛澄岐,王海燕,等.基于图标特征的头盔显示界面布局实验研究[J].东南大学学报(自然科学版),2015,45(5):865.[doi:10.3969/j.issn.1001-0505.2015.05.010]
 Shao Jiang,Xue Chengqi,Wang Haiyan,et al.Experimental study on HMDs interface layout based on icon characteristics[J].Journal of Southeast University (Natural Science Edition),2015,45(6):865.[doi:10.3969/j.issn.1001-0505.2015.05.010]
[2]张晶,薛澄岐,沈张帆,等.基于认知分层的图像复杂度研究[J].东南大学学报(自然科学版),2016,46(6):1149.[doi:10.3969/j.issn.1001-0505.2016.06.007]
 Zhang Jing Xue Chengqi Shen Zhangfan Wang Haiyan Zhou Lei Zhou Xiaozhou Chen Xiaojiao.Study on image complexity based on cognitive layering method[J].Journal of Southeast University (Natural Science Edition),2016,46(6):1149.[doi:10.3969/j.issn.1001-0505.2016.06.007]
[3]佘青山,马鹏刚,马玉良,等.基于张量线性拉普拉斯判别的肌电特征提取方法[J].东南大学学报(自然科学版),2017,47(6):1117.[doi:10.3969/j.issn.1001-0505.2017.06.006]
 She Qingshan,Ma Penggang,Ma Yuliang,et al.EMG feature extraction based on tensor linear Laplacian discriminant[J].Journal of Southeast University (Natural Science Edition),2017,47(6):1117.[doi:10.3969/j.issn.1001-0505.2017.06.006]

备注/Memo

备注/Memo:
收稿日期: 2018-04-08.
作者简介: 熊鹏文(1987—),男,博士,副教授,steven.xpw@ncu.edu.cn.
基金项目: 国家自然科学基金资助项目(61663027)、中国博士后科学基金资助项目(2018M642136)、江西省自然科学基金资助项目(20181BAB211019)、江西省教育厅科学技术研究资助项目(60212)、江苏省博士后科研资助计划资助项目(2018K024A)、东南大学江苏省远程测控技术重点实验室开放基金资助项目(YCCK201602).
引用本文: 熊鹏文,雷耀,李鸣,等.基于GRNN的人机交互下遥操作力预测方法[J].东南大学学报(自然科学版),2018,48(6):1130-1136. DOI:10.3969/j.issn.1001-0505.2018.06.021.
更新日期/Last Update: 2018-11-20