Holdable Haptic Device for 4-DOF Motion Guidance
Holdable Haptic Device for 4-DOF Motion Guidance
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DOI：
10.1109/whc.2019.8816171
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发表时间：
2019-03
期刊：
影响因子：
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通讯作者：
Julie M. Walker;N. Zemiti;P. Poignet;A. Okamura
中科院分区：
文献类型：
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作者：
Julie M. Walker;N. Zemiti;P. Poignet;A. Okamura
与传统的接地触觉设备相比，手持触觉的设备可以提供更大的运动自由度和更大的工作空间。皮肤远离刺激部位，本文提供了一个手持式的动力学抓地力，可提供四个自由度的指导线索（DOF）。用手指结合起来，可以在三部分的用户学习中转换或旋转手指。在强制选择的八个方向上，他们重复了第一部分，现在知道每个提示的用户能够在90％的时间内歧视每个提示。对培训之前和之后的指导提示的反应，并表明提示很容易遵循。
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users’ fingertips than many wearable haptic devices because reaction forces can be distributed over a larger area of skin far away from the stimulation site. This paper presents a hand-held kinesthetic gripper that provides guidance cues in four degrees of freedom (DOF). 2-DOF tangential forces on the thumb and index finger combine to create cues to translate or rotate the hand. We demonstrate the device’s capabilities in a three-part user study. First, users moved their hands in response to haptic cues before receiving instruction or training. Then, they trained on cues in eight directions in a forced-choice task. Finally, they repeated the first part, now knowing what each cue intended to convey. Users were able to discriminate each cue over 90% of the time. Users moved correctly in response to the guidance cues both before and after the training and indicated that the cues were easy to follow. The results show promise for holdable kinesthetic devices for haptic feedback and guidance in applications such as medical training, teleoperation, and virtual reality.