Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering
Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering
复制标题
用于触觉地形渲染的软机器人智能鞋的设计和评估
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
M. Minor
中科院分区：
文献类型：
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作者：
Yue Wang;M. Minor
在大多数虚拟现实应用中，触觉地形绘制是具有挑战性的。虽然现有的物理地形显示设备专注于渲染粗略的地形要素，如坡度和楼梯，但基于膀胱的软机器人智能鞋可以渲染细微的要素以及坡度。这项研究改进了智能鞋的设计，为不同用户提供更一致的触觉显示，提高鞋的使用寿命。新的囊袋模型，包括壁力学和空气行为，允许参数鞋类模拟研究设计变量、加载方案和用户尺寸。将帕累托最优设计应用于定制鞋的设计。实验验证了模型，并证明了显著提高的耐用性。受试者测试测量生物力学反应并收集测量数据，这些数据展示了地形的触觉渲染和补偿不平坦地形的能力。
Haptic terrain rendering is challenging in most virtual reality applications. While existing physical terrain display devices focus on rendering gross terrain features, like slopes and stairs, the bladder based soft robotic smart shoe can render subtle features as well as slopes. This research improves smart shoe design to provide more consistent haptic display among different users and improve shoe life. New bladder models, including wall mechanics and air behavior, allow parametric shoe simulations to study design variables, loading scenarios, and user sizes. Pareto optimal design is applied to derive customized shoe designs. Experiments validate models and demonstrate significantly improved durability. Subject tests measure biomechanical response and gather survey data, which demonstrate haptic rendering of terrain and the ability to compensate uneven terrain.