On tactile sensing and display
On tactile sensing and display
复制标题
关于触觉传感和显示
DOI：
10.1016/j.biotri.2017.01.004
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
W. Provancher
中科院分区：
文献类型：
--
作者：
M. Cutkosky;W. Provancher
在遥控机器人的帮助下，操纵世界各地甚至另一个星球上的物体已经成为可能。但是用户如何感受到远程机器人手在触摸什么呢？与显示触觉相关的挑战是巨大的，需要能够在用户的指尖重新创建不断变化的接触几何形状、压力分布和振动。尽管经过多年的研究，遥控机器人控制台主要为操作员提供视觉反馈和整体操纵力。这种体验类似于用火钳操纵物体。本文提出的研究的目标是通过向用户传递触觉来扩展当前系统的能力。
本论文提出了一种新的触觉传感和显示方法，涉及用指尖施加力和运动的远程操纵。这项工作的动机假设是，感应和显示接触位置提供了必要的信息，灵巧遥控。提出了一种由曲率测量元件阵列组成的新型触觉传感器。曲率测量提供了信息的操纵规划和控制，并提供了一个估计的本地对象的几何形状，有用的把握稳定性分析。仿真和实验验证了该方法的有效性。
传感器的伴侣是一个显示器，允许用户跟踪手指/物体接触位置。触觉显示器在用户的指尖上呈现接触质心的位置，从而向用户提供关于对象运动和曲率的提示。用户区分不同的对象曲率和运动条件的能力进行了研究，在一系列的实验，涉及通过显示器呈现的真实的和虚拟对象。结果表明，接触位置提供了一个重要的线索，灵巧的遥控操作，并轻轻弯曲的物体，显示器的用户的性能是他们的性能相比，当他们直接用自己的指尖触摸对象。
With the aid of telerobotics it has become possible to manipulate an object across the world or even on another planet. But how can the user feel what the remote robot hand is touching? The challenges associated with displaying tactile sensations are formidable, requiring the ability to recreate changing contact geometries, pressure distributions and vibrations at the user's fingertips. Despite years of research, telerobotic consoles provide their operators mainly with visual feedback and overall handling forces. The experience is akin to manipulating an object with fireplace tongs. The goal of the research presented herein is to extend the capabilities of current systems by imparting tactile sensations to their users.
This thesis presents new methods of tactile sensing and display for dexterous telemanipulation, i.e., telemanipulation that involves imparting forces and motions with the fingertips. The motivating hypothesis for this work is that sensing and displaying contact location provides essential information for dexterous telemanipulation. A new tactile sensor is presented that consists of an array of curvature-measuring elements. The curvature measurements provide information for manipulation planning and control and provide an estimate of the local object geometry, useful for grasp stability analysis. The approach is validated in simulation and experimentally.
The companion to the sensor is a display that allows users to track finger/object contact locations. The tactile display renders the location of the contact centroid on a user's fingertip and thereby provides the user with cues about object motion and curvature. The ability of users to discriminate among different object curvature and motion conditions is investigated in a series of experiments involving real and virtual objects rendered via the display. The results indicate that contact location provides an important cue for dexterous telemanipulation and that, for gently curved objects, the performance of users with the display is comparable to their performance when they touch objects directly with their own fingertips.
光滑表面上单个粗糙度的触觉检测阈值。
DOI：
10.3109/07367228309144538
发表时间：
1983
期刊：
Somatosensory research
影响因子：
--
作者：
Johansson,RS;LaMotte,RH
通讯作者：
LaMotte,RH