A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars
A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars
复制标题
用于直观控制机器人假肢和化身的新型皮肤拉伸触觉设备
DOI：
10.1109/lra.2019.2896484
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发表时间：
2019
影响因子：
5.2
通讯作者：
M. Catalano
中科院分区：
文献类型：
--
作者：
Nicoletta Colella;M. Bianchi;G. Grioli;A. Bicchi;M. Catalano
如果没有本体感觉，即身体感知自身肢体位置的内在能力，完成日常生活活动将需要持续的视觉注意力，这将是具有挑战性的，甚至是不可能的。这种情况类似于肢体截肢和机器人远程操作后经历的情况，其中自然感觉运动回路被破坏。虽然已经提出了一些基于皮肤拉伸感觉替代的有前途的解决方案来恢复这些条件下的触觉特性，但仍然有增强刺激传递的直观性和用户体内触觉反馈设备集成的空间。为了实现这一目标，我们在这里提出了一种基于皮肤拉伸刺激的可穿戴设备 Stretch-Pro，它可以提供人造手孔径的本体感觉信息。该系统可以适当地集成在假肢接受腔中，或者可以由控制远程机器人的用户轻松佩戴。当用于完成运动任务时，该系统可以模仿完整肢体上自然发生的皮肤拉伸。该系统有两个版本，分别带有一个和两个执行器，以不同的方式提供拉伸刺激。报道了对身体健全的参与者进行的实验以及对一名假肢使用者的初步测试。结果表明，Stretch-Pro 可能是向上肢假肢用户传达本体感觉线索的可行解决方案，为远程机器人应用开辟了前景广阔的前景。
Without proprioception, i.e., the intrinsic capability of a body to perceive its own limb position, completing daily life activities would require constant visual attention and it would be challenging or even impossible. This situation is similar to the one experienced after limb amputation and in robotic tele-operation, where the natural sensory-motor loop is broken. While some promising solutions based on skin stretch sensory substitution have been proposed to restore tactile properties in these conditions, there is still room for enhancing the intuitiveness of stimulus delivery and integration of haptic feedback devices within user's body. To contribute to this goal, here, we propose a wearable device based on skin stretch stimulation, the Stretch-Pro, which can provide proprioceptive information on artificial hand aperture. This system can be suitably integrated in a prosthetic socket or can be easily worn by a user controlling remote robots. The system can imitate the stretching of the skin that would naturally occur on the intact limb, when it is used to accomplish motor tasks. Two versions of the system are presented, with one and two actuators, respectively, which deliver the stretch stimulus in different ways. Experiments with able-bodied participants and a preliminary test with one prosthesis user are reported. Results suggest that Stretch-Pro could be a viable solution to convey proprioceptive cues to upper limb prosthesis users, opening promising perspectives for tele-robotics applications.
DOI：
10.1007/3-540-29719-0_258
发表时间：
2020-02
期刊：
Definitions
影响因子：
--
作者：
Daniel Bell
通讯作者：
Daniel Bell