Sensory substitution via cutaneous skin stretch feedback
Sensory substitution via cutaneous skin stretch feedback
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通过皮肤拉伸反馈进行感觉替代
DOI：
10.1109/icra.2013.6630894
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
A. Okamura
中科院分区：
文献类型：
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作者：
Samuel B. Schorr;Zhan Fan Quek;Robert Y. Romano;I. Nisky;W. Provancher;A. Okamura
皮肤拉伸是一种新型的触觉反馈方法，可以为操作员提供有关外力的大小和方向的信息。为了评估皮肤拉伸反馈在机器人遥操作系统中作为运动(力)反馈的感觉替代品的潜力，进行了一项研究，以测量用户使用不同水平的指垫皮肤拉伸而不是力反馈来区分环境僵硬的能力。开发了一种新的高保真皮肤拉伸反馈装置，它按照预期的力反馈水平按比例施加切向指垫皮肤拉伸。在心理物理实验中，用户收到的皮肤拉伸反馈的幅度与用户对虚拟墙的穿透深度成正比。用户使用皮肤拉伸的僵硬辨别能力与使用力反馈的能力相当。此外，用户认为较大的皮肤拉伸暗示在没有任何提前训练的情况下表现出更大的僵硬，这表明皮肤拉伸反馈将是力反馈的直观替代品。因此，在机器人辅助手术等应用中，皮肤拉伸反馈是一种很有前途的传递动觉力信息的方法，在这些应用中，出于稳定性或安全考虑，可能不需要高水平的力反馈。
Skin stretch is a novel haptic feedback method that can provide a human operator with information about the magnitude and direction of an applied force. To evaluate the potential for skin stretch feedback to be used as a sensory substitute for kinesthetic (force) feedback in robotic teleoperation systems, a study was conducted to measure the ability of users to discriminate environment stiffness using varying levels of fingerpad skin stretch instead of force feedback. A new, high-fidelity skin stretch feedback device was developed that imposes tangential fingerpad skin stretch in proportion to the intended level of force feedback. In psychophysical experiments, users received skin stretch feedback with magnitude proportional to the users' penetration depth into a virtual wall. Users' stiffness discrimination capability using skin stretch was comparable to that of using force feedback. Furthermore, larger skin stretch cues were perceived by users as portraying greater stiffness without any advance training, which indicates that skin stretch feedback would be an intuitive sensory substitute for force feedback. Thus, skin stretch feedback is a promising method for conveying kinesthetic force information in applications such as robot-assisted surgery, where high levels of force feedback may not be desirable due to stability or safety concerns.