부산대학교 도서관

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 cases, human decision-making plays a crucial role, haptic display of interaction between the robot end-effector, and a virtual or real remote environment is of significant importance. To this end, this article proposed a new approach to expanding $Z$ -width by introducing magnetorheological fluids (MRFs) and the spring element hybrid actuation mechanism. Then, system stability and human decision-making based on perceiving transparency theory are further analyzed. Moreover, a 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 MRFs and the spring element. A fabricated thumb haptic interface as a master controller can effectively reflect the $Z$ -width of the remote environment in a robot-assisted telemanipulation application scenario. [ABSTRACT FROM AUTHOR]