Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very few of these robots are capable of actively engaging with humans and undertaking physical manipulation tasks. This limitation is largely attributed to the absence of tools that can realistically simulate physical interactions, especially the contact mechanisms between a robotic gripper and a human body. In this letter, we aim to address key limitations in current developments towards robotic casualty manipulation. Firstly, we present an integrative simulation framework for casualty manipulation. We adapt a finite element method (FEM) tool into the grasping and manipulation scenario, and the developed framework can provide accurate biomechanical reactions resulting from manipulation. Secondly, we conduct a detailed assessment of grasping stability during casualty grasping and manipulation simulations. To validate the necessity and superior performance of the proposed high-fidelity simulation framework, we conducted a qualitative and quantitative comparison of grasping stability analyses between the proposed framework and the state-of-the-art multi-body physics simulations. Through these efforts, we have taken the first step towards a feasible solution for robotic casualty manipulation.

翻译：近年来，救援机器人因其在应对紧急情况、以及在人类难以介入的挑战性或危险环境中提供关键支持的重要作用而受到越来越多的关注。然而，这些机器人中极少能够主动与人类互动并承担物理操控任务。这一局限很大程度上归因于缺乏能够真实模拟物理交互，特别是机器人夹持器与人体之间接触机制的工具。在本文中，我们旨在解决当前机器人伤员操控研究中的关键局限。首先，我们提出一个用于伤员操控的集成仿真框架。我们将有限元方法（FEM）工具适配于抓取与操控场景，所开发的框架能够提供由操控产生的精确生物力学反应。其次，我们在伤员抓取与操控仿真中对抓取稳定性进行了详细评估。为了验证所提出的高保真仿真框架的必要性和优越性能，我们对所提框架与最先进的多体物理仿真在抓取稳定性分析方面进行了定性和定量比较。通过这些工作，我们为实现机器人伤员操控的可行解决方案迈出了第一步。