HAPI Bands: A haptic augmented posture interface
HAPI Bands: A haptic augmented posture interface
复制标题
HAPI Bands：触觉增强姿势界面
DOI：
10.1109/haptic.2012.6183785
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Okamura
中科院分区：
文献类型：
--
作者：
M. Rotella;Kelleher Guerin;Xingchi He;A. Okamura
在运动任务的指导中，教师以视觉演示、听觉指示或身体指导的形式提供反馈，可以提高学生的表现并促进运动学习。当无法获得老师的指导，或者视觉和听觉提示不合适时，模仿老师触摸的可穿戴触觉反馈呈现是一种替代解决方案。我们推出了 HAPI Bands，这是一组用户佩戴的带子，配有偏心质量电机，可提供振动触觉反馈以指导静态姿势。针对上半身 15 个自由度 (DOF) 校正与目标姿势的关节错位。 HAPI Bands 使用低成本测距相机、Microsoft Kinect 和相关软件来测量用户关节在空间中的 3D 位置。我们开发了一种新颖的算法，通过将 Kinect 位置传感与来自身体安装的加速计的方向数据集成来计算 6-DOF 关节姿态。系统传感精度根据 Optotrak 数据进行测量，导致躯干、肩部和肘关节的平均关节偏差分别约为 2.33°、7.13° 和 7.48°，平均静态 RMS 测量误差为 0.59°。在一项用户研究中，发现触觉反馈在减少躯干和手臂一自由度运动的端点误差方面与视觉反馈一样有效。未来的工作计划在实际应用中评估 HAPI Bands 系统，并探索动态运动轨迹的指导。
In the instruction of motor tasks, feedback from a teacher in the form of visual demonstration, aural directives, or physical guidance enhances student performance and facilitates motor learning. When the teacher's guidance is not available, or visual and aural cues are not appropriate, a wearable presentation of haptic feedback that mimics the teacher's touch is an alternative solution. We present HAPI Bands, a set of user-worn bands instrumented with eccentric mass motors that provide vibrotactile feedback for guidance of static pose. Joint misalignment from a target pose is corrected for 15 degrees of freedom (DOFs) of the upper-body. HAPI Bands uses a low-cost range camera, the Microsoft Kinect, and related software to measure the 3D position of a user's joints in space. We developed a novel algorithm that computes 6-DOF joint pose by integrating Kinect position sensing with orientation data from body-mounted accelerometers. Accuracy of the system's sensing was measured against Optotrak data, resulting in average joint biases of approximately 2.33°, 7.13°, and 7.48° for torso, shoulder, and elbow joints, respectively, with an average static RMS measurement error of 0.59°. In a user study, haptic feedback was found to be as effective as visual feedback in reducing endpoint error in 1-DOF movements of the torso and arm. Future work is planned to evaluate the HAPI Bands system in realistic applications and explore guidance of dynamic motion trajectories.