Capacitive touchscreen‐integrated electrostatic tactile display with localized sensation

An electrostatic tactile display with a projected capacitive touchscreen integrated into a single panel was demonstrated. Every electrode on the panel is driven for both tactile presentation and the touch sensor. The functions are both time and spatially multiplexed, and a reference–node‐driven high‐pass filter in the touch controller filters out the noise from the tactile driving signals.     

User preference and usability assessments of touchpad surface tactile in laptops

This study evaluates the usability and user preference of Mylar surface films with different degrees of roughness for laptop touchpads. A total of 30 individuals were recruited to participate in an experiment. The usability of the touchpad was assessed using Fitts' law task. The user's subjective feelings were collected, including value perception, texture sensation, and preference. The experimental results indicated a shorter reaction time when the surface roughness of the touchpad was greater than 1.0 μm. However, the error rate was lower and subjective preference was higher when the surface roughness of the touchpad was between 0.5 and 1.3 μm. The results of this study provide an understanding of the effects of touchpad roughness on human motor control behavior and could guide the choice of surface materials for future touchpad design and manufacture.     

三维柔性触觉/热觉传感器设计与仿真

针对目前触觉传感器研究中不能兼有柔韧性、多维力测量和热觉与触觉信号混杂等难题,设计了一种柔性多功能触觉/热觉传感器。介绍了该传感器的基本结构,并基于聚偏氟乙烯（ PVDF）薄膜的特性建立了三维力并行测量的数学模型。触觉检测基于PVDF的压电效应,热觉检测基于PVDF的热释电效应。通过对触觉和热觉信号做比例减法运算,从而彻底区分触觉和热觉信号。     

基于触诊成像的肿块识别系统研究与设计

乳腺癌的早期发现对于乳腺癌的治疗有十分重要的意义,设计了基于触诊成像的肿块识别系统。该系统由压力信号检测单元、信号控制单元和图像处理单元组成,压力信号检测单元实现压力信号的采集,信号控制单元由FPGA控制多路开关的选通来扫描压力阵列传感器的电容信号,并将数据通过EZ-USB发送给上位机,图像处理单元对压力图像进行处理来滤除噪声。其中图像处理单元是该系统的枢纽,运用最小二乘曲面拟合校正压力图像,最大类间方差法和基于滤波的图像邻域评级技术对压力图像进行分割,对压力图像进行线性插值来提高图像分辨率。实验结果表明,该系统可以在复杂噪声图像中有效地识别出肿块。     

Multiobjective optimization of a two-piece aluminum beverage bottle considering tactile sensation of heat and embossing formability

This paper deals with a multiobjective optimization of a screw-top beverage bottle for hot vending. The bottle body has temperate touch feeling and can be embossed easily by axially imposing a cylindrical tube die with rib-shaped inner surface on the outer surface of the bottle body. Initially, a contact nonlinear analysis of fingers grasping the bottle is carried out, and the amount of heat transmitted from the hot bottle to the flesh of the finger is then calculated to evaluate the hot touch feeling. Meanwhile, the simulation of the rib-shape embossing process of the bottle body is performed to evaluate the embossing formability of different rib shape designs. Finally, using response surface approximation method and weighted sum approach, a multiobjective optimization on the shape of the rib is performed to obtain temperate touch feeling as well as better embossing formability. The amount of heat transmitted from the optimized rib-shape embossed bottle decreased at least 30% as compared with that of the regular bottle.     

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。     

基于阵列式触觉传感器的中医脉象采集系统的设计

给出了一种基于电容式触觉传感器阵列的新型中医脉象采集系统的设计,弥补了以往单点压力传感器定位不准、信息量少、重复性差等缺点,目的是为中医脉象的客观化研究提供技术支持。本系统包括采集器软硬件、PC端软件设计以及基于斜率阈值的脉象起始点、主波峰值点特征提取方法。系统采集的脉象波形稳定,通过与人工标注的数据对比,特征提取算法的误差在0.02 s以内。     

Thermal sensation of the body as influenced by the thermal microclimate in a face mask

Subjective and physiological responses were obtained from six subjects wearing a face mask while exercising (220 W m ^?2) for 15 min on a bicycle ergometer. Different combinations of ambient air temperatures (7, 16 and 25°C) and mask air temperatures (22,27 and 33°C) were studied with two different air humidities inside the mask (61 and 86% relative humidity (RH)). Control experiments were performed without the mask at the same ambient temperatures. Skin temperatures, heart rates and skin wettedness were monitored during exercise. The subjects’ thermal sensations, sensations of sweating and skin wettedness and their thermal preferences were assessed at the end of the exercise period. Whole body thermal sensation was primarily determined by the ambient air temperature, but was also significantly influenced by the mask air temperature. This could only partly be explained by the change in respiratory heat loss. Other possible avenues of influence are discussed.     

基于PVDF的三维力机器人触觉传感器的设计

当机器手抓取时物体受力信息检测是抓取过程顺利进行的基础,检测三维方向上的力便可充分反映物体的受力信息。当前用于抓取过程中三维力检测的触觉传感器还存在着一些不足,基于此,论文拟设计一种基于PVDF的三维力机器人触觉传感器。论文展示了传感器的结构设计,建立了压电薄膜及传感头结构的数学模型,设计了调理电路并对传感器进行测试和验证,结果表明该传感器能有效检测机器手抓取过程中的三维力信息。     

覆盖层材料对触觉传感器空间分辨率的影响

通过有限元计算 ,分析了弹性覆盖层材料对触觉传感器空间分辨率的影响 ,给出了一些覆盖层材料的选择准则。     

基于MEMS微触觉测头和纳米测量机的特征尺寸测量

针对微小结构几何量测量的需求,通过集成MEMS微触觉测头和纳米测量机构建了高精度的测量系统.在验证测头性能的基础上,完成了一系列判断测头测量分辨力和精度的实验,在轴向、同向横向、异向横向三个方向测量的标准偏差分别为41.755 2 nm,6.05 μm,6.16μm,同时,在扫描实验中进程回程扫描差值的标准偏差为23.088 nm.     

A curved surface display for three fingers based on human visual and tactile sensory fusion

In general, it is difficult to present tactile information because arbitrary curvatures of the curved surface and many degrees of freedom need to be realised. On the other hand, psychophysical studies have suggested that human visual and tactile sensations have an illusory fusion characteristic. This means that we can recognise curved surfaces of objects through visual and tactile sensations, even if exact tactile information is not presented. Hence, by utilising the human characteristic of sensory fusion, realisation of a curved surface display can be simplified. From such motivation, the human fusion characteristics of visual and tactile sensation are measured, and are quantitatively analysed. Based on the analysed results, a curved surface display for three fingers is developed. In the curved surface display, only four curved patterns are utilised instead of presenting many curved patterns. Performance of the developed tactile display is proved through evaluated experiments.     

A comparative study of tactile paving design standards in different countries

Tactile paving is a system of textured ground surface indicators found on public environments to assist blind and visually impaired persons to distinguish locations and directions, identify potential hazards, and then to move and reach expected destinations. The design of tactile paving is different from those of many public facilities because tactile paving is mainly used by blind and visually impaired persons. Although tactile paving was invented several decades ago it is only recently that it has been widely implemented in many cities, yet criticism on its unsatisfactory design for its particular users as well as other people is still frequently heard. One of the critical comments is the lack of a good standard. This paper reviews the history and development of tactile paving. By reviewing particular characteristics of tactile paving and the needs of blind and visually impaired persons, this paper discusses the importance of a standard for tactile paving. This paper then compares different tactile paving design standards in several selected countries. Focusing on the factors of type, pattern and color in constituting the standards of tactile paving, this paper tries to identify the problems of tactile paving in China, and then gives some suggestions and insights for consideration and further investigation.     

基于新型多模态触觉传感器的机器人交互物体分类

多模态传感融合对于机器人探索外界环境十分重要,而现有的触觉传感器只能收集一种触觉模态信息,其收集到的多模态信息存在弱配对问题,为了解决此问题,研究了一种基于触觉和视觉融合的多模态触觉传感器。该传感器可以利用一个感知层同时收集2种异构触觉模态信息,弥补了传统触觉传感器的缺陷,同时可以利用收集到的多模态信息对不同物体的几何形状进行分类,在研究过程中,通过按压实验收集了圆形、正方形、长方形和三角形4种形状物体的触觉信息,再利用K最近邻(KNN)算法进行几何形状分类,实验结果证明了该传感器在区分不同物体的形状上具有良好的效果。     

A cognitive robot architecture based on tactile and visual information

In this paper, we propose an architecture for a cognitive robot based on tactile and visual information. Visual information contains various features such as location and area of various colored regions. Most of these features are irrelevant for object recognition to achieve the given task. In the architecture, tactile information plays a key role in the selection of visual features and discritization of selected features. In order to find appropriate visual features we use a correlation coefficient between the values of the features and action series. Then the ChiMerge algorithm is employed to discritize the value of the selected feature into a small number of intervals. Consequently, quantization of a state space to accomplish the given task is achieved. An appropriate behavior to the given task is acquired by using this state space with reinforcement learning algorithm. We give experimental results of computer simulation to show the validity of our method.     

动态触觉传感器的三维力学分析与补偿

建立了动态触觉传感器的三维力学模型 ,计算了触觉传感器表面弹性保护膜的低通效应值 ,利用反卷积算法部分补偿了这种低通效应 ,并对该算法进行了仿真实验。实验结果表明该算法的收敛性和接触力重构准确度能够满足实际应用的需要     

Thermal budget control for processes with spike‐shaped temperature profiles: Application to rapid thermal annealing

The spike‐shaped temperature profile in thermal treatments is widely used in the IC industry for providing precise thermal budgets. This thermal budget control issue becomes more crucial as the technology node progressively shrinks. Therefore, rapid thermal processing (RTP), such as spike annealing has the ability to yield ultra‐shallow junctions. With its exceptionally stringent performance requirements (for example, high temperature uniformity and high temperature ramp‐up/down rate), temperature control in RTP systems is a challenging task. In this study, a novel methodology for designing a control system to provide a precise thermal budget is presented. By tuning controller parameters and designing the set‐point profile, the method targets thermal budget indices instead of temperature servo control. Two types of controllers, PI and PI ²D, are considered. Practical issues, such as the feasibility range for temperature ramp‐up/down rate and the effect of model mismatch, are also discussed. The results show that the simple PI controller performs well in spike RTP systems. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

热式气体流量计温度补偿研究

恒温型热式流量计加热探头与被测介质之间交换的热量不仅与质量流量有关还与被测介质的温度有关。通过对流量计热交换模型的分析,导出了热式气体流量计温度补偿的模型。同时对传感器的结构和常用的驱动电路进行了分析,指出了现有补偿电路的不足,提出了一种新的温度补偿电路。通过电路分析和试验证明,新补偿电路能改善温度补偿效果。     

A critical review of glove and hand research with regard to medical glove design

Research from a number of areas was surveyed, including hand function; skin friction; manual performance testing; glove comfort, fit and durability; and user perception. The relevance of the research to medical glove design was discussed. It was concluded that, while an understanding has been gained of the factors that affect glove performance in general, specific application to thin rubber gloves has not been well explored. The focus in glove performance testing has also been on simple tasks such as pegboards, which do not necessarily assess the fine dexterity required in many surgical tasks. Recommendations were made for the development of a new battery of tests specific to medical gloves that would simulate real medical tasks and could produce repeatable results and have sufficient resolution to differentiate between glove types.