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手控器是遥操作机器人的人机接口的关键设备之一 ,力/触觉反馈对遥操作机器人系统具有重要的意义 ,如何实现有效的力觉和触觉反馈是机器人手控器研制中的核心问题。本文对手控器结构进行分类 ,并对力/触觉反馈形式作一概括。
Hand-control device is one of the key devices in human-machine interface of teleoperation robot. Force / tactile feedback is of great importance to telecontrol robot system. How to realize effective force and tactile feedback is the key problem in the development of robot hand-control . This article classifies the structure of the hand control and generalizes the form of force / tactile feedback.