Improving Transparency in Teleoperation by Means of Cutaneous Tactile Force Feedback
Improving Transparency in Teleoperation by Means of Cutaneous Tactile Force Feedback
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DOI：
10.1145/2604969
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发表时间：
2014-04-01
影响因子：
1.6
通讯作者：
Prattichizzo, Domenico
中科院分区：
文献类型：
--
作者：
Pacchierotti, Claudio;Tirmizi, Asad;Prattichizzo, Domenico
研究了皮肤力反馈和动觉力反馈在遥操作中的作用。皮肤线索提供较少的透明度比动觉力，但他们不影响遥操作系统的稳定性。另一方面，动觉提供了一个令人信服的遥现错觉，但影响触觉回路的稳定性。然而，当采用常见的接地触觉接口，它是不可能独立地控制皮肤和动觉组件的互动。出于这个原因，许多控制技术，确保了一个稳定的相互作用，按比例缩小动觉和皮肤的力反馈，即使作用于皮肤通道是不必要的。它的目的是提高现实主义的触觉渲染，同时保持其稳定性，通过调制皮肤的力量，以弥补缺乏动觉。我们进行了两个遥操作实验，评估（1）皮肤刺激的作用时，减少动觉和（2）在何种程度上过度激活的皮肤通道可以完全弥补缺乏动觉力反馈。结果表明，在某种程度上，它可以弥补缺乏动觉与上述技术，没有显着的性能下降。此外，用户在使用该系统时表现出很高的舒适度。
A study on the role of cutaneous and kinesthetic force feedback in teleoperation is presented. Cutaneous cues provide less transparency than kinesthetic force, but they do not affect the stability of the teleoperation system. On the other hand, kinesthesia provides a compelling illusion of telepresence but affects the stability of the haptic loop. However, when employing common grounded haptic interfaces, it is not possible to independently control the cutaneous and kinesthetic components of the interaction. For this reason, many control techniques ensure a stable interaction by scaling down both kinesthetic and cutaneous force feedback, even though acting on the cutaneous channel is not necessary.We discuss here the feasibility of a novel approach. It aims at improving the realism of the haptic rendering, while preserving its stability, by modulating cutaneous force to compensate for a lack of kinesthesia. We carried out two teleoperation experiments, evaluating (1) the role of cutaneous stimuli when reducing kinesthesia and (2) the extent to which an overactuation of the cutaneous channel can fully compensate for a lack of kinesthetic force feedback. Results showed that, to some extent, it is possible to compensate for a lack of kinesthesia with the aforementioned technique, without significant performance degradation. Moreover, users showed a high comfort level in using the proposed system.