文献类型：期刊文献

英文题名：Operation Status of Teleoperator Based Shared Control Telerobotic System

作者：Liu, Shuang[1];Yao, Shulei[1];Zhu, Guodong[1];Zhang, Xiancheng[1];Yang, Runhuai[2]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]Anhui Med Univ, Dept Biomed Engn, Hefei 230032, Peoples R China

年份：2021

卷号：101

期号：1

外文期刊名：JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

收录：;EI(收录号：20205009620957);WOS:【SCI-EXPANDED(收录号:WOS:000600219800001)】；

基金：This work was sponsored by the National Key Research and Development Program of China(2018YFC1902405), and the National Natural Science Foundation of China (NSFC) (51975214, 61973003).

语种：英文

外文关键词：Status of teleoperator; Shared control; Backpropagation neural network; Telerobotic system

摘要：Telerobotic system is a typical human-machine system. The operation results not only depend on the performance of machine, but also the status of teleoperators (SoT). However, existing telerobotic systems scarcely consider the impact of teleoperators. This paper proposes a method for the online identification of the SoT and incorporates it to a shared control telerobotic system. First, some mental indicators are obtained based on Electroencephalogram during teleoperations. The relationship between the SoT and mental indicators is then established by a neural network. The online SoT identification is further implemented on a mobile telerobotic system. Second, a SoT based shared control framework is proposed in telerobotic system. The SoT is designed to dynamically adjust the control weight of the shared controller. Finally, comparative experiments are performed between a sensor based shared control method and the SoT based shared control method. The result validates the effectiveness of the proposed SoT based shared control method in telerobotic system.