Human Navigation Using Phantom Tactile Sensation Based Vibrotactile Feedback
Human Navigation Using Phantom Tactile Sensation Based Vibrotactile Feedback
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DOI：
10.1109/lra.2020.3010447
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Hirata, Yasuhisa
中科院分区：
文献类型：
--
作者：
Liao, Zhenyu;Luces, Jose V. Salazar;Hirata, Yasuhisa
近年来，已经研究了使用振动触觉反馈的多个导航系统，这是由于它们除了引起用户的快速响应之外还能够在保持视觉和听觉通道自由的同时传达信息。在目前阶段，大多数导航系统与振动触觉反馈的文献中集中在引导用户周围的空间使用固定数量的振动触觉线索，这是有限的振动器的数量。由于用户不能被直接引导到期望的位置，因此难以利用有限数量的可重复方向实现更精确的引导。在这封信中，我们提出了一种方法来引导人们周围的空间使用多向振动触觉反馈（MVF）。MVF可以在用户的左小腿上产生振动提示，平均方向分辨率为15.35。对于用户不移动的情况，仅使用六个振动电机，通过利用称为幻影触觉感觉（PTS）的振动触觉错觉。在动态方向识别实验的初步测试中，用户报告他们在长时间连续振动下对振动的敏感性降低。因此，除了为用户提供连续的振动来指示方向之外，我们还考虑在本实验中在摆动或站立阶段向用户产生线索。行走时的方向识别实验的结果表明，在摆动或站立阶段产生的线索的平均识别错误低于识别错误时，线索连续产生。我们进行了一个导航实验，以测试的可行性，使用建议的方向显示，引导周围的开放区域的人在实时。在这个实验中，用户能够在两个步态阶段的90%左右的时间内仅通过所提出的反馈引导达到目标。
In recent years, multiple navigation systems using vibrotactile feedback have been studied, due to their ability to convey information while keeping free the visual and auditory channels, besides eliciting rapid responses from users. In the current stage, most navigation systems with vibrotactile feedback in the literature focus on guiding users around space using a fixed number of vibrotactile cues, which are limited by the number of vibrators. Achieving more precise guidance with a limited number of conveyable directions is difficult, as users cannot be directly guided to the desired position. In this letter, we present an approach to guide people around space using multidirectional vibrotactile feedback (MVF). The MVF can produce vibratory cues on the user's left lower leg with an average directional resolution of 15.35. for cases when the user is not moving, using only six vibration motors, by exploiting a vibrotactile illusion called Phantom Tactile Sensation (PTS). In a preliminary test of dynamic direction recognition experiment, users reported they tend to become less sensitive to vibration under long-time continuous vibration. As a result, besides offering users a continuous vibration to indicate directions, we also considered producing the cues during either the swing or stance phase to users in this experiment. The result of a direction recognition experiment while walking shows that the average recognition error for the cues when produced in the swing or stance phases are lower than the recognition error when the cues are continuously produced. We carried out a navigation experiment to test the feasibility of using the proposed direction display to guide people around an open area in real-time. In this experiment, users were able to reach the goal within the time limit guided only by the proposed feedback around 90% of the times for both gait phases.