A High Performance Tactile Feedback Display and Its Integration in Teleoperation
A High Performance Tactile Feedback Display and Its Integration in Teleoperation
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DOI：
10.1109/toh.2012.20
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发表时间：
2012-07-01
影响因子：
2.9
通讯作者：
Caldwell, Darwin G.
中科院分区：
文献类型：
--
作者：
Sarakoglou, Ioannis;Garcia-Hernandez, Nadia;Caldwell, Darwin G.
本文介绍了一种紧凑型触觉显示器的研制及其在远程操作中的集成。该系统的操作是基于通过垂直移动到皮肤表面的4 × 4因子阵列将表面形状显示到指尖区域。这些因素是弹簧加载的，并通过一个灵活的肌腱传输由直流电机远程驱动。这种传统驱动原理的新颖实现实现了紧凑的设计，与类似尺寸的设备相比，具有优越的性能，展示了因素时空分辨率，力和振幅的出色组合。该显示器的人体工程学设计和高性能使其适合集成在触觉设备上，用于VR和远程操作中的触觉反馈。本文介绍了触觉显示和传动系统的设计、控制和性能。它还展示了其集成在欧米茄7力反馈装置的远程操作的LWR库卡机械手。在有触觉反馈和无触觉反馈的情况下，对机器人的触控笔进行了三维轮廓跟踪实验。在本实验中，奴隶的力反馈与基于模型的局部触觉反馈相融合。当触觉和力反馈同时存在时，实验对象的远距操作能力有所提高。
This paper presents the development of a compact tactile display and its integration in teleoperation. The system's operation is based on the display of surface shape to an area of the fingertip through a 4 x 4 array of tactors moving perpendicularly to the skin surface. The tactors are spring loaded and are actuated remotely by dc motors through a flexible tendon transmission. This novel implementation of conventional actuation principles achieves a compact design with superior performance compared to devices of a similar footprint, demonstrating an excellent combination of tactor spatiotemporal resolution, force, and amplitude. The display's ergonomic design and high performance make it suitable for integration on haptic devices for tactile feedback in VR and in Teleoperation. This paper presents the design, control, and performance of the tactile display and of the transmission system. It also demonstrates its integration on an Omega7 force feedback device for the teleoperation of an LWR KUKA manipulator. An experiment is presented where users teleoperated the stylus of the robot in a 3D contour following task with and without tactile feedback. In this experiment, force feedback from the slave is fused with model-based local tactile feedback. Subjects' performances indicate an improvement in teleoperation when both tactile and force feedback are present.