基于模糊强化学习的微创外科手术机械臂人机交互方法

doi:10.13973/j.cnki.robot.2017.0363

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杜志江, 王伟, 闫志远, 董为, 王伟东. 基于模糊强化学习的微创外科手术机械臂人机交互方法[J]. 机器人, 2017, 39(3): 363-370.DOI: 10.13973/j.cnki.robot.2017.0363. DU Zhijiang, WANG Wei, YAN Zhiyuan, DONG Wei, WANG Weidong. A Physical Human-Robot Interaction Algorithm Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator. ROBOT, 2017, 39(3): 363-370. DOI: 10.13973/j.cnki.robot.2017.0363.

摘要为实现微创外科手术机器人的手术姿态调整，提出一种基于模糊强化学习的变导纳人机力交互模型．通过在线学习的方式将人的操作特性考虑到人机力交互过程之中，并能够自适应地调整导纳控制模型以响应操作者的控制意图．通过自行研制的微创外科手术机器人样机进行相关的实验验证，实验结果表明基于模糊Sarsa (λ)学习的变导纳控制模型可实现柔顺自然的机械臂摆位操作，能够满足力交互过程中各阶段的阻尼变化需求，具有较高的可控性和稳定性．

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关键词 ：微创外科手术机器人, 人机力交互, 强化学习, 自适应导纳控制

Abstract：In order to achieve the surgical gesture adjustment of the minimally invasive surgical robot, a variable admittance model based on fuzzy reinforcement learning for physical human-robot interaction is proposed. The manipulation characteristics of the operator are taken into account in the physical human-robot interaction process by an online learning method, which can adaptively modify the admittance model to respond to the operator's control intention. An experimental verification is carried out on a self-developed minimally invasive surgical robot, and the experiment results show that the pose adjustment of manipulator can be implemented naturally and smoothly by the variable admittance model based on fuzzy Sarsa(λ) learning. The proposed control strategy can meet the requirements of damping change in each stage of the physical human-robot interaction, and has high controllability and stability.

Key words： minimally invasive surgery robot physical human-robot interaction reinforcement learning adaptive admittance control

收稿日期: 2017-01-05 录用日期: 2017-05-06

TP24

基金资助:国家自然科学基金（61403107）

通讯作者: 王伟东,wangweidong@hit.edu.cn E-mail: wangweidong@hit.edu.cn

作者简介: 杜志江(1972-）,男,博士,教授,博士生导师.研究领域:医疗机器人,工业机器人,危险环境作业机器人.
王伟(1984-）,男,博士生.研究领域:医疗机器人,机器学习,术前规划.
闫志远(1983-）,男,博士,讲师.研究领域:医疗机器人,虚拟现实.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0363 或 https://robot.sia.cn/CN/Y2017/V39/I3/363

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