DextrEMS: Increasing Dexterity in Electrical Muscle Stimulation by Combining it with Brakes
DextrEMS: Increasing Dexterity in Electrical Muscle Stimulation by Combining it with Brakes
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DOI：
10.1145/3472749.3474759
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发表时间：
2021-10
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影响因子：
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通讯作者：
Romain Nith;Shan-Yuan Teng;Pengyu Li;Yujie Tao;Pedro Lopes
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作者：
Romain Nith;Shan-Yuan Teng;Pengyu Li;Yujie Tao;Pedro Lopes
电肌肉模拟（EMS）是一种紧急技术，它使力反馈尤其流行，例如移动游戏，VR或AR，但是，基于EMS的互动系统表现出的激活是粗糙的大多关注大型肌肉群体的诱发运动，例如腿部，手臂和手腕；手指的手指甚至是手语中最简单的字母，这是不可能的。 ，引起相邻的手指的不良动作；精确的角度，因为停止手指，几乎所有EMS系统都会通过控制器（例如PID）获得相对的肌肉 - 即使使用最好的控制器调谐，这通常会导致不需要的振荡。 ，我们提出了Dextrems，这是一种基于EMS的触觉设备，其机械制动器附着在每个手指关节上。我们的机械制动器可以在精确的位置停止手指，这也使触发器可以选择哪些手指被EMS移动，从而通过防止相邻的手指移动，从而消除了不需要的动作。设备仅加权68克，可独立执行八个手指接头（四个手指的掌pophangeal和近端的指间关节），我们在宽阔的地方证明了这一点触觉应用，例如辅助手指，钢琴教程，吉他教程和VR游戏。
Electrical muscle stimulation (EMS) is an emergent technique that miniaturizes force feedback, especially popular for untethered haptic devices, such as mobile gaming, VR, or AR. However, the actuation displayed by interactive systems based on EMS is coarse and imprecise. EMS systems mostly focus on inducing movements in large muscle groups such as legs, arms, and wrists; whereas individual finger poses, which would be required, for example, to actuate a user's fingers to fingerspell even the simplest letters in sign language, are not possible. The lack of dexterity in EMS stems from two fundamental limitations: (1) lack of independence: when a particular finger is actuated by EMS, the current runs through nearby muscles, causing unwanted actuation of adjacent fingers; and, (2) unwanted oscillations: while it is relatively easy for EMS to start moving a finger, it is very hard for EMS to stop and hold that finger at a precise angle; because, to stop a finger, virtually all EMS systems contract the opposing muscle, typically achieved via controllers (e.g., PID)—unfortunately, even with the best controller tuning, this often results in unwanted oscillations. To tackle these limitations, we propose dextrEMS, an EMS-based haptic device featuring mechanical brakes attached to each finger joint. The key idea behind dextrEMS is that while the EMS actuates the fingers, it is our mechanical brake that stops the finger in a precise position. Moreover, it is also the brakes that allow dextrEMS to select which fingers are moved by EMS, eliminating unwanted movements by preventing adjacent fingers from moving. We implemented dextrEMS as an untethered haptic device, weighing only 68g, that actuates eight finger joints independently (metacarpophalangeal and proximal interphalangeal joints for four fingers), which we demonstrate in a wide range of haptic applications, such as assisted fingerspelling, a piano tutorial, guitar tutorial, and a VR game. Finally, in our technical evaluation, we found that dextrEMS outperformed EMS alone by doubling its independence and reducing unwanted oscillations.