Smart Design of <i>Z</i>-Width Expanded Thumb Haptic Interface Using Magnetorheological Fluids

摘要

In the human-in-the-loop robot-assisted telemanipulation application scenario, artificial intelligence and sensors technology were utilized to improve autonomous levels of operation. However, in some special application case, human decision making plays a crucial role, haptic display of interaction between robot end-effector and a virtual or real remote environment is significant importance. To this end, this article proposed a new approach to expanding Z-width by introducing magnetorheological fluids (MRFs) and spring element hybrid actuation mechanism. Then, system stability and human decision making based perceiving transparency theory is further analyzed. Moreover, hybrid actuation mechanism based Z-width expansion mathematical model is established while its control scheme related parameters design is presented. Furthermore, Z-width expansion experimental results demonstrated the effectiveness of this hybrid actuation mechanism by introducing MR fluids and spring element. Fabricated thumb haptic interface as a master controller can effectively reflect Z-width of the remote environment in robot-assisted telemanipulation application scenario.