國智清創雄安機器人研究院
英文版正文3574字，
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中文版正文1328字，
預計閱讀時長4分鐘
Photo: Andrew Mitrak/HaptX
At CES 2017,a giant mystery box from a company called AxonVR that was able to generate astonishingly convincing tactile sensations of things like tiny palm-sized animals running around >An update in late 2017 traded the giant mystery box (and the ability to reproduce heat and cold) for a wearable glove with high resolution microfluidic haptics embedded inside of it. By itself, the HaptX system is constrained to virtual reality, but when combined with a pair of Universal Robotics UR10 arms, Shadow dexterous robotic hands, and SynTouch tactile sensors, you end up with a system that can reproduce physical reality instead.
在CES2017上，一家名為AxonVR的公司的一個巨大的神秘盒子，它能夠產生驚人的令人信服的觸覺，比如手掌大小的VR小動物在我的手掌上跑來跑去。在2017年底的一個更新交換了巨大的神秘盒（以及複製熱和冷的能力）的可穿戴手套與高解析度微流控觸覺嵌入其中。Hapt X系統本身就受制於虛擬現實，但如果與一對通用機器人UR10臂、影子靈巧機器人手和SynTouch觸覺傳感器相結合，你最終會發現有一個系統可以複製物理現實。
The demo at CES is pretty much the same thing that you may have seen video of Jeff Bezos trying at Amazon’s re:MARS conference. The heart of the system are the haptic gloves, which are equipped with spatial position and orientation sensors as well as finger location sensors. The movements that you make with your hands and fingers are mapped to the Shadow hands, while the UR10 arms try to match the relative position of the hands in space to your own. Going the other way, there’s a more or less 1-to-1 mapping between what the robot hands feel, and the forces that are transmitted into the fingers of the gloves.
在CES上的演示幾乎是一樣的，你可能已經看到傑夫·貝佐斯在亞馬遜Re：MARS會議上嘗試的視頻。這個系統的核心是觸覺手套，它配備了空間位置和方向傳感器以及手指位置傳感器。你用你的手和手指做的動作被映射到陰影手，而UR10手臂試圖在你手上匹配相應的位置。手從另一個角度看，機器人的手感覺和傳遞到手指中的力之間或多或少有一對一的映射手套。
It’s not a perfect system quite yet—sensors get occluded or otherwise out of whack on occasion, and you have to use a foot pedal as a sort of pause button on the robots while you reposition your limbs in a way that’s easier for the system to interpret. And the feel of the force transmission takes some getting used to. I want to say that it could be more finely calibrated, but much of that feeling is likely on my end, since we』re told that the system gets much easier to control with practice.
這還不是一個完美的系統——有時傳感器會被遮擋或出現故障，在重新定位肢體時，你必須用腳踏板作為機器人上的一個暫停按鈕這是一種更容易解釋系統的方式。力的傳遞需要一些習慣。我想說的是，它可以被更精細地校準，但大部分這種感覺很可能在末端，因為我們被告知，系統變得更容易控制與實踐。
Photo: Andrew Mitrak/HaptX
Evan uses the telerobotic hands to operate a mockup of a control panel used to shut down a nuclear reactor. He had to turn a valve, flip some switches, twist a knob, and then push a button. Meltdown averted!
埃文使用遠程機器人的手操作一個模型的控制面板，用於關閉核反應堆。他必須轉動一個閥門，轉動一些開關，擰一個旋鈕，然後按下一個按鈕。它倒過來了！
Even as a brand new user, it was surprising how capable my remote controlled hands were. I had no trouble grabbing plastic cups and transferring a ball between them, although I had to take care not to accidentally crush the cups (which would trap the ball inside). At first, it was easy to consider the force feedback as more of a gimmick, but once I started to relax and pay attention to it, it provided useful information that made me more effective at the task I was working on.
即使是作為一個全新的用戶，遙控手的能力也是令人驚訝的。可以不費吹灰之力就抓住了塑料杯，然後在它們之間轉移一個球要小心壓碎杯子（這會把球夾在裡面）。起初，很容易把這個看作是一種噱頭，但一旦我開始放鬆並注意到它，它會提供有用的信息，使我在工作的任務中更加有效。
After playing around with things a bit more (and perhaps proving myself not to be totally incompetent), I was given the second most challenging scenario—a simple mockup of a control panel used to shut down a nuclear reactor. I had to turn a valve, flip some switches, twist a knob, and then push a button, all of which required a variety of different grasps, motions, and forces. It was a bit fiddly, but I got it all, and what I found most impressive was that I was able to manipulate things even when I couldn』t see them—in this case, because one of the arms was blocking my view. I』m not sure that would have been possible without the integrated haptic system.
在玩了更多的遊戲之後（也許證明自己並不完全無能），我得到了第二個最具挑戰性的場景——一個簡單的模擬控制面板，用於學習不要倒下一個核反應堆。我必須轉動一個閥門，翻轉一些開關，擰一個旋鈕，然後按下一個按鈕，所有這些都需要各種不同的抓地力、運動和力量。雖然還是有點小問題，我發現最令人印象深刻的是，即使看不見東西，我也能操縱東西，在這種情況下，因為其中一隻手臂擋住了我的視線。我不確定沒有集成的觸覺系統是可能的。
Image: Converge Robotics Group
The three companies involved in the project (Shadow Robot Company, HaptX, and Tangible Research) have formed the Converge Robotics Group to commercialize the system.
參與該項目的三家公司（陰影機器人公司、Hapt X公司和有形研究公司）組成了Converge機器人集團，將該系統商業化。
The news from CES is that the three companies involved in this project (Shadow Robot Company, HaptX, and Tangible Research) have formed a sort of consortium-thing calledConverge Robotics Group. Basically, the idea is to create a framework under which the tactile telerobot can be further developed and sold, because otherwise, it’s not at all clear who you』d even throw money at if you wanted to buy one.
來自CES的消息是，參與這一項目的三家公司（影子機器人公司、HaptX和有形研究）已經組成了一個叫做Converge機器人集團的財團。巴西 卡利，我們的想法是創建一個框架，在這個框架下，觸覺遙控機器人可以被進一步開發和銷售，因為否則，如果你想買，你甚至不清楚你會向誰扔錢。
Speaking of buying one, this system is 「now available for purchase by early access customers.」 As for what it might cost, well… It』ll be a lot. There isn』t a specific number attached to the system yet, but with two UR10 arms and pair of Shadow hands, we』re looking at low six figures just in that portion of the hardware. Add in the HaptX gloves and whatever margin you need to keep your engineers fed, and it’s safe to say that this isn』t going to end up in your living room in the near future, no matter how cool that would be.
這個系統「現在可以供早期訪問客戶購買」。至於它可能要花多少錢，嗯...。這將是很多。這個系統還沒有一個特定的數字，但有兩個UR10臂和一對陰影手，我們正在尋找低於六個數的方法，關鍵就在硬體的那一部分，加上Hapt X手套和你需要的任何保證金，還要讓你的工程師吃飽，保守的說，這會在不久的將來出現在你的客廳，將會是多麼酷！
素材來源：
https://spectrum.ieee.org/automaton/robotics/robotics-hardware/converge-robotics-group-commercializing-immersive-telepresence
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編譯：J<4
編輯：Zero