机器人触觉临场感电触觉反馈技术研究

本文对机器人触觉临场感电触觉反馈技术进行了实验性研究。设计出了电触觉反馈装置和触觉反馈手套,结合我们已经研制出的指形触觉传感器和数据手套构成了遥操作机器人触觉临场感系统。联机实验结果表明,该触觉反馈装置能够给操作者提供有效的触觉反馈。     

用于触摸屏交互的可穿戴指端力反馈系统设计

力触觉再现技术在增强用户与触摸屏交互的真实感和沉浸感方面发挥着越来越重要的作用,设计了一种面向触摸屏图像信息感知的可穿戴指端力反馈装置。设计基于线绳牵引驱动的指端力反馈机构,将装置分为驱动和可穿戴部分,使其具备小巧、轻便、易佩戴的特点。设计测控系统,实现了输出反馈力的检测和控制。研究图像信息提取和力触觉建模算法,获取图像中物体的三维特征信息,配合力反馈装置和测控系统实现图像纹理高度、外形轮廓信息再现反馈。实验结果表明,该装置最大可以提供5.3 N的反馈力,能够帮助用户感知触摸屏中图像的高度和形状信息。     

基于磁流变液的力/触觉再现系统研究进展

力/触觉再现技术是当前新兴的研究领域.介绍了最近10年来基于磁流变液的力/触觉再现系统的国内外研究进展情况.总结了基于磁流变液的力/触觉再现技术的研究内容,包括执行装置的结构设计、模型研究以及再现系统控制研究,讨论了基于磁流变液的力/触觉再现系统开发过程中的关键技术.如提高便携式触觉接口中执行装置的力矩/重量比.减小静态力、克服被动系统力/触觉表达局限性,指出了今后发展的趋势.阐述了基于磁流变液的力/触觉再现系统的优势,并展望了其应用前景.     

纹理力触觉建模与表达技术研究综述

力触觉再现作为一种新兴的信息传递方式,对提高人机交互的真实感和准确性具有重要意义.纹理的力触觉表达是借助触觉反馈通道反映人与环境交互过程中物体表面凹凸特性.介绍了纹理力触觉表达的研究背景,阐述了纹理力触觉表达系统的基本原理,归纳了纹理力触觉表达的触觉特征提取和建模方法,并对不同类别的建模方法的特点和问题进行了分析,最后给出了纹理力触觉表达技术的未来研究方向和建议.     

计算机触觉:虚拟现实环境的力触觉建模和生成

触觉是人类5种感觉通道之一,在日常生活中发挥着不可缺少的作用.在虚拟现实和增强现实系统中,力触觉反馈的引入有望显著提高人机交互的沉浸感和交互性.文中综述了虚拟现实环境中力触觉感受的建模和生成方法,从力触觉生成与视觉生成的差异性出发,回顾了计算机触觉的发展历史和国内外研究现状,重点分析了虚拟物体建模、碰撞检测、碰撞响应、变形计算等关键技术,并提出了力触觉生成技术的未来发展趋势和技术挑战.     

虚拟骨科手术中触觉交互建模方法综述

虚拟骨科手术可以让骨科医生使用多种虚拟骨科手术器械在三维重建的骨性解剖结构模型上进行骨科手术操作和 训练。力触觉交互在骨科手术中起着不容忽视的作用,如何在骨科手术模拟中实现真实快速的触觉交互,已成为近年来 虚拟骨科手术研究的热点。文章主要对现有的骨科手术模拟系统中用到的触觉交互模型进行了研究、分类和总结,分析 了现有的一些模型的特点和不足,并展望了骨科手术系统中未来力触觉交互的发展。     

悬浮空间中的触觉反馈在多对象选择任务中的作用

在触控交互中,缺少触觉反馈会造成用户操作水平的降低和用户体验的下降.前人研究对在触控交互中增加触觉反馈这一方法进行了探索.然而,由于现有触摸屏技术仅能在用户点击屏幕后检测用户手指的位置,触觉反馈也只能在用户点击屏幕之后发挥作用.新的传感技术可以在触摸屏上方的悬浮空间(hover space)内提前检测到手指的位置.利用多对象选择任务(multi-target pointing task)比较了在悬浮空间中增加4种反馈方式对用户操作水平和用户体验的影响.实验结果显示,增加的点击振动反馈受到了用户的普遍青睐.然而,增加的触觉反馈对于用户的操作效率和正确率却没有影响.根据这些结果和前人的研究,提出了在悬浮空间中增加触觉反馈的设计建议.     

一种新型手臂力触觉反馈装置的设计与实现

力触觉是重要的非视觉信息来源之一，通过触觉向人类传递丰富的信息被广泛应用于各个领域。为解决基于振动的力触觉反馈中所存在的振动器与皮肤之间接触力不可调和重复穿戴时接触力不一致而影响振动感知的问题，提出了一种利用气囊来调节振动器与皮肤之间的接触力的方法，并以此设计了一种新型手臂力触觉反馈装置。为验证装置的有效性，设计了不同的振动强度识别实验。实验结果表明，对于参与实验的受试者，振动器与皮肤之间的接触力对振动强度的识别的影响是显著的，在气囊内外气压差为15 mbar时，振动强度的识别率最高，为76.67%。     

振动触觉纹理再现技术研究综述

纹理力触觉再现是通过特定的硬件装置模拟产生与物体纹理表面接触时的触感，使用户能感受到物体的粗糙度、软硬度等纹理特征信息。振动刺激作为再现物体触觉信息的一种刺激方式，在纹理触觉再现中被广泛运用，产生了不同的振动触觉表达装置和纹理触觉表达方法。从纹理触觉认知的角度，阐述了人对振动刺激的触觉感知生理学基础；介绍了纹理触觉再现的原理和方法；从振动与纹理特征的映射方法以及振动刺激方式两个方面分析了目前振动触觉纹理再现技术的发展现状；最后对相关研究的发展进行了总结展望。     

视触觉融合的增强现实三维注册方法

增强现实技术是近年来人机交互领域的研究热点。在增强现实环境下加入触觉感知,可使用户在真实场景中看到并感知到虚拟对象。为了实现增强现实环境下与虚拟对象之间更加自然的交互,提出一种视触觉融合的三维注册方法。基于图像视觉技术获得三维注册矩阵;借助空间转换关系求解出触觉空间与图像空间的转换关系;结合两者与摄像头空间的关系实现视触觉融合的增强现实交互场景。为验证该方法的有效性,设计了一个基于视触觉增强现实的组装机器人项目。用户可触摸并移动真实环境中的机器人零件,还能在触摸时感受到反馈力,使交互更具真实感。     

Force and tactile feedback in preloaded cantilever snap-fits under manual assembly

The purpose of this study was to investigate the tactile feedback of snap-fit fasteners when used in manual assembly. An important aspect of this assembly process is the assembler’s ability to perceive the snap-fit’s engagement. This sensing of engagement yields a high level of confidence that assembly is both complete and secure. Force and tactile feedback are critical elements in this process. Many snap-fits are used in conjunction with sealing elements that produce a constant force that remains in effect after snap-fit assembly is completed. The effect of sealing element preload magnitude and stiffness was studied using a test station, force deflection measurements, and jury pool data. A low value of preload with low stiffness was determined to be most favorable in terms of force and tactile feedback, with no preload only slightly less favorable. In order to sense the engagement signal of the catch, some resistance to assembly was found to be beneficial. A dimensionless term called “engagement signal-to-hold-force ratio” is proposed as an additional way of rating the effect of assembly forces for snap-fits. It was found that higher signal-to-hold-force ratio, as well as higher values of engagement signal, corresponded to higher confidence of assembly among experimental subjects.

Relevance to Industry

In the automotive industry, force and tactile feedback are essential for sensing the full engagement of snap-fit parts during the assembly of critical components, such as electrical and fuel system interconnects. Both the design of the snap-fit and the presence or absence of preload will affect force and tactile feedback. Many of these applications require the compression of an elastic gasket with a preload needed for air, fuel, or electrical isolation. Preload and preload stiffness factors are examined in this paper with the aim of achieving a better understanding of these effects so that snap-fit confidence of assembly and assembly robustness can be enhanced in industrial settings.     

Tactile feedback enhanced hand gesture interaction at large, high-resolution displays

Human beings perceive their surroundings based on sensory information from diverse channels. However, for human–computer interaction we mostly restrict the user on visual perception. In this paper, we contribute to the investigation of tactile feedback as an additional perception modality. Therefore, we will first discuss existing user studies and provide a classification scheme for tactile feedback techniques. We will then present and discuss a comparative evaluation study based on the ISO 9241-9 [Ergonomic requirements for office work with visual display terminals (VDTs) – Part 9: requirements for non-keyboard input devices, 2000]. The 20 participants performed horizontal and vertical one-directional tapping tasks with hand gesture input with and without tactile feedback in front of a large, high-resolution display. In contrast to previous research, we cannot confirm a benefit of tactile feedback on user performance. Our results show no significant effect in terms of throughput (effective index of performance (IPe)) and even a significant higher error rate for horizontal target alignment when using tactile feedback. Based on these results, we suggest that tactile feedback can interfere with other senses in a negative way, resulting in the observed higher error rate for horizontal targets. Therefore, more systematic research is needed to clarify the influencing factors on the usefulness of tactile feedback. Besides these results, we found a significant difference in favor of the horizontal target alignment compared with the vertical one in terms of the effective index of performance (IPe), confirming the work by Dennerlein et al. [Force feedback improves performance for steering and combined steering–targeting tasks, in: CHI ’00: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, New York, NY, USA, 2000, pp. 423–429].     

图像局部纹理特性的静电力触觉渲染

目的 触摸触觉设备感知物体时,需要实现视觉-力触觉同步反馈,其中图像-力触觉反馈难点在于再现更真实的纹理触感的触觉渲染过程。本文提出了一种基于图像局部纹理特征的静电力触觉渲染模型,实现了更加清晰、触感真实的图像纹理的静电力触觉反馈。方法 首先,采用局部傅里叶变换方法强化局部纹理特征,提取傅里叶变换系数分离出表征形状和局部纹理、边缘的频域分量。其次,对局部纹理特征进行力触觉渲染,建立局部纹理特征与驱动信号的映射模型,采用比例模型将局部纹理特征值转化为同等级的静电力表达。最后,根据静电力与驱动信号的心理学模型,由局部纹理特征控制不同驱动信号的输出产生静电力触觉。结果 进行纹理触觉对比感知实验验证算法有效性,62.5%的实验参与者偏爱基于图像局部纹理的触觉渲染算法反馈的纹理触感,本文算法可以模拟多种图像的纹理、边缘的触感。结论 算法在频域分离图像局部纹理、边缘和形状特征,建立纹理-力触觉渲染模型,针对大多数图片可以有效地增强纹理触感,提升触觉再现交互技术的沉浸感。     

Haptic force-feedback devices for the office computer: performance and musculoskeletal loading issues

Pointing devices, essential input tools for the graphical user interface (GUI) of desktop computers, require precise motor control and dexterity to use. Haptic force-feedback devices provide the human operator with tactile cues, adding the sense of touch to existing visual and auditory interfaces. However, the performance enhancements, comfort, and possible musculoskeletal loading of using a force-feedback device in an office environment are unknown. Hypothesizing that the time to perform a task and the self-reported pain and discomfort of the task improve with the addition of force feedback, 26 people ranging in age from 22 to 44 years performed a point-and-click task 540 times with and without an attractive force field surrounding the desired target. The point-and-click movements were approximately 25% faster with the addition of force feedback (paired t-tests, p < 0.001). Perceived user discomfort and pain, as measured through a questionnaire, were also smaller with the addition of force feedback (p < 0.001). However, this difference decreased as additional distracting force fields were added to the task environment, simulating a more realistic work situation. These results suggest that for a given task, use of a force-feedback device improves performance, and potentially reduces musculoskeletal loading during mouse use. Actual or potential applications of this research include human-computer interface design, specifically that of the pointing device extensively used for the graphical user interface.     

基于Internet的力反馈技术研究

论述了基于Internet的力反馈技术及其相关技术的发展和研究意义，综合机器人遥操作控制领域的理论方法，结合多媒体技术的最新发展，构建了一种基于事件的系统结构及其设计方法．基于该方法，分析了系统的可靠性、稳定性及力媒体传输的透明性，并设计了一个基于Internet的力反馈技术的系统实例．     

Maintaining and modifying pace through tactile and multimodal feedback

Older adults are recommended to remain physically active to reduce the risk of chronic diseases and to maintain psychological well-being. At the same time, research also suggests that levels of fitness can be raised among this group. This paper describes the development and evaluation of a mobile technology, which enables older adults to monitor and modify their walking habits, with the long-term aim of sustaining appropriate levels of physical activity. An empirical study was conducted with twenty older adults to determine the feasibility of the proposed solution, with results indicating that tactile signals could be perceived while in motion and could support participants in walking at a range of paces. However, the effects were difficult to discern due to limitations of the hardware. In response, a novel low-cost prototype was developed to amplify vibrations, and effectiveness of redundant auditory information was investigated with the goal of enhancing the perception of the cues. A second study was conducted to determine the impact of multimodal feedback on walking behavior. Findings revealed that participants were able to maintain a desired level of pace more consistently when redundant auditory information was presented alongside the tactile feedback. When the visual channel is not available, these results suggest that tactile cues presented via a mobile device should be augmented with auditory feedback. Our research also suggests that mobile devices could be made more effective for alternative applications if they are designed to allow for stronger tactile feedback.     

基于力反馈的手部康复训练装置研究进展

携带力反馈功能的装置进行训练已经成为手功能康复训练的重要手段.详细介绍了典型的用于手部康复训练的力反馈装置,通过对其优缺点进行比较,发现手部康复训练力反馈装置存在安全性要求高、重量较大、功能比较欠缺和实时性差的问题,并提出了相应的解决思路.最后展望了手部康复训练力反馈装置的发展趋势.     

A comparison of tactile,auditory, and visual feedback in a pointing task using a mouse-type device

A mouse was modified to add tactile feedback via a solenoid-driven pin projecting through a hole in the left mouse button. An experiment is described using a target selection task under five different sensory feedback conditions (‘normal’, auditory, colour, tactile, and combined). No differences were found in overall response times, error rates, or bandwidths; however, significant differences were found in the final positioning times (from the cursor entering the target to selecting the target). For the latter, tactile feedback was the quickest, normal feedback was the slowest. An examination of the spatial distributions in responses showed a peaked, narrow distribution for the normal condition, and a flat, wide distribution for the tactile (and combined) conditions. It is argued that tactile feedback allows subjects to use a wider area of the target and to select targets more quickly once the cursor is inside the target. Design considerations for human-computer interfaces are discussed.