力的扰动：采用并联电机-线缆单元对RAVEN II手术机器人进行力驱动
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
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中文总结 AI 辅助
针对手术机器人力反馈难题，开发含6个电机-线缆单元的并联系统，实现无干扰力驱动，力驱动误差小于1N，为获取训练数据提供支持。
中文摘要 AI 辅助
手术机器人的力反馈难题已存在数十年。近年来，基于机器人状态的学习型力估计方法在无需额外传感器的情况下展现出理想精度，但获取机器人在工作空间内受各类外力作用的代表性训练数据仍具挑战。本研究开发了一套并联电机-线缆系统，在机器人工作空间周围安装6个电机-线缆单元，将张力可控的线缆连接至机器人末端执行器，可在不干扰手术机器人运动的前提下提供所需外力。该系统的开发涵盖电机单元硬件、控制软件、传感器驱动、仿真等内容。初步实验表明，力驱动精度误差小于1N。
英文摘要
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.
发表机构
- University of Washington（华盛顿大学）
- Mount Holyoke College（曼荷莲学院）
机构由 AI 辅助整理，请以论文原文为准。
