基于操作者状态的机器人遥操作的增强机制研究

Telerobot can replace human in a hazardous environment and extend human ability. Therefore, it has been widely used in the applications of nuclear materials handling, counter-terrorism operations, space exploration and other fields. Over the years, community of robotics continuously improves telerobotic systems by enhancing system stability and telepresence. However, teleoperation is not only associated to the system performance but also closely related to the operation states of teleoperator. In fact, even under the conditions of guaranteeing the stability and telepresence, abnormal operation states may still result in improper or even erroneous operations. Therefore, it is of great significance to investigate the operation states of teleoperator for improving the telerobotic systems, particularly in the efficiency and safety. This study investigates the online identification of the operation states of teleoperator and also the integration of the states into telerobotic systems to enhance their efficiency and safety. The operation states of teleoperator are first identified from the point view of mental states based on EEG(electroencephalo-graph) signals and then a control adjustment mechanism based on the states is designed to adjust the speed and sensitivity of the robotic system in order to improve the teleoperation efficiency and safety.

机器人遥操作能代替人在危险环境下作业，并扩展人的工作范围，因而，在核原料处理、反恐爆破、空间作业等领域被广泛应用。多年来，机器人领域不断通过提高系统稳定性和临场感等方法来提高遥操作系统的性能。然而，遥操作效果不仅受限于系统性能，更与操作人员的状态密切相关。事实上，即使在保证系统稳定性与临场感的前提下，不良的操作状态依然可能导致不当甚至错误的操作，因此，研究操作者的遥操作状态对提高机器人遥操作效果，特别是工作效率与安全性，有着重要意义。本课题提出一种在线识别操作者遥操作状态的方法，并建立了一种基于遥操作状态提高操作效率与安全性的增强机制。首先，基于操作者的脑电波信号，提出了一种从精神状态角度识别遥操作状态的方法，在此基础上，建立了一种根据遥操作状态调节控制速度与灵活度的控制调节机制，从而实现根据不同的遥操作状态来改变系统特性的功能，最终达到提高遥操作效率与安全性的目的。

面向机器人与人共融的技术需求，针对机器人遥操作系统中遥操作者状态的在线识别与基于状态反馈的控制系统增强机制问题展开了研究。主要包括：（1）研究了基于EMOTIV设备的脑电信号采集方法，分析与研究了遥操作相关的脑电信号特征；（2）利用模糊神经网络方法，建立了基于脑电信号的遥操作者状态识别方法，建立了脑电信号与精神状态指标之间的关系模型，实现了遥操作者状态的在线识别；（3）提出了两种有效的基于遥操作者状态的机器人遥操作增强机制，包括速度与灵敏度调节方法与动态共享控制调节方法，从而提高了机器人遥操作系统的操作效率和安全性。本项目体现了与人共融的机器人新时期需求，为人机共融技术提供了切实可行的理论框架与模式，为从人的角度进一步提升机器人系统的性能提供了理论支持。