Separating haptic guidance from task dynamics: A practical solution via cutaneous devices
Separating haptic guidance from task dynamics: A practical solution via cutaneous devices
复制标题
将触觉引导与任务动态分离：通过皮肤设备的实用解决方案
DOI：
10.1109/haptics.2018.8357147
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. O'Malley
中科院分区：
文献类型：
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作者：
Evan Pezent;S. Fani;J. Bradley;M. Bianchi;M. O'Malley
人们对使用触觉反馈来训练新技能或指导人类运动很感兴趣。然而，结合触觉指导来训练新技能的研究结果是混合的，这取决于任务的复杂性和触觉指导的实施方法。受试者表现出依赖的指导力量和识别的触觉反馈的哪些方面是有关的任务动态，这是为了传达任务完成策略的困难。出于这些原因，需要新的方法来分离触觉提示的指导任务动态的触觉反馈。在该实验中，30名受试者使用手腕外骨骼完成了轨迹跟踪任务，该手腕外骨骼还呈现任务部队。为了帮助受试者，指导线索提供了三种形式之一：（1）皮肤的力量，从一个可穿戴的皮肤拉伸设备上的同侧前臂和（2）对侧前臂，和（3）动觉的力量，从一个运动学上类似的手腕外骨骼操作的对侧arm.The效果的每一个指导条件进行了比较，通过检查受试者的表现和学习率。结果表明，皮肤的指导是几乎一样有效的动觉指导，使其成为一个实用和成本效益的替代空间分离的援助。
There is much interest in using haptic feedback for training new skills or guiding human movement. However, the results of studies that have incorporated haptic guidance to train new skills are mixed, depending on task complexity and the method by which the haptic guidance is implemented. Subjects show dependency on the guidance forces and difficulty in discerning which aspects of the haptic feedback are related to the task dynamics and which are meant to convey task completion strategies. For these reasons, new methods to separate haptic cues for guidance from haptic feedback of task dynamics are needed. In this experiment, 30 subjects completed a trajectory following task using a wrist exoskeleton which also rendered task forces. To assist subjects, guidance cues were provided in one of three forms: (1) cutaneous forces from a wearable skin-stretch device on the ipsilateral forearm and (2) contralateral forearm, and (3) kinesthetic forces from a kinematically similar wrist exoskeleton operated by the contralateral arm. The efficacies of each guidance condition are compared by examining subject performance and learning rates. The results indicate that cutaneous guidance is nearly as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.