Development of a 2-DOF softness feeling display for tactile tele-presentation of deformable surfaces
Development of a 2-DOF softness feeling display for tactile tele-presentation of deformable surfaces
复制标题
DOI：
10.1109/robot.2010.5509688
复制
发表时间：
2010-05
期刊：
影响因子：
--
通讯作者：
Fuminobu Kimura;A. Yamamoto;T. Higuchi
中科院分区：
文献类型：
--
作者：
Fuminobu Kimura;A. Yamamoto;T. Higuchi
本文介绍了一种二自由度可控柔度显示器及其在触觉遥示系统中的应用。据报道，柔软感可以通过再现指尖上的接触面积或接触宽度来显示。在过去的研究中，已经报道了几种基于接触面积控制的柔软度显示，但它们都只有一个自由度（DOF）用于其接触面积控制。结果表明，再现的接触区域是对称的，只能产生均匀的表面感觉。然而，在一些实际的可变形表面中，接触条件在指尖表面上是不均匀的;例如，如果在柔软的可变形表面下方存在小块，则所得接触面积可能变得不对称。为了再现这种不对称接触条件，柔软度显示器应该具有更多受控的DOF。本文报道了我们实现多自由度可控柔度显示的尝试。作为第一步，本文描述了一种2-DOF控制显示器。显示器有两个独立控制接触区域两侧的直流电机。由此产生的不对称接触面积可以促进，例如，软变形表面中的块位置的判别。该显示器集成到一个触觉远程演示系统与接触宽度传感器，测量不对称的接触条件。利用该遥示系统，演示了肿块位置的判别。
This paper presents a 2-DOF controlled softness display and its application to a tactile tele-presentation system. It has been reported that softness feelings can be displayed by reproducing contact area, or contact width, on a fingertip. Several softness displays based on the contact area control have been reported in past studies, but all of them had only one degree-of-freedom (DOF) for their contact area control. Resultantly, the reproduced contact area was symmetric, which could only produce uniform surface feelings. In some practical deformable surfaces, however, the contact conditions are not uniform over fingertip surfaces; for example, if there is a small lump beneath a soft deformable surface, resultant contact area can become asymmetric. To reproduce such asymmetric contact conditions, a softness display should have more controlled DOFs. This paper reports our trial to realize a multi-DOF controlled softness display. As a first step, this particular paper describes a 2-DOF controlled display. The display has two DC motors which independently control both sides of the contact area. Resultant asymmetric contact area can facilitate, e.g., discrimination of lump location in soft deformable surfaces. The display was integrated into a tactile tele-presentation system together with a contact width sensor, which measures asymmetric contact condition. Using the tele-presentation system, discriminations of lump location are demonstrated.