A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions
A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions
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DOI：
10.1038/s42256-019-0125-1
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发表时间：
2019-12-01
影响因子：
23.8
通讯作者：
Paik, Jamie
中科院分区：
文献类型：
--
作者：
Mintchev, Stefano;Salerno, Marco;Paik, Jamie
触觉接口可以重新创建触摸体验，并且对于改善人机交互是必要的。然而，目前，触觉接口要么机电设备引起非常有限的触摸感觉或设备，可以提供更全面的动觉提示，但在其大体积的成本：有一个明确的权衡之间的丰富的反馈和设备的大小。从紧凑的平台创建复杂的触摸感觉的设计和制造挑战仍然需要解决。为了克服折叠力反馈机器人的物理限制，我们采用了折纸设计原则，以实现便携性，准确性和可扩展的制造。其结果是Foldaway，一个可折叠的折纸机器人，可以在一个紧凑的平台上提供三个自由度的力反馈，可以放在口袋里。这个机器人平台可以跟踪用户手指的运动，施加高达2牛顿的力，并使刚度达到每毫米1.2牛顿。我们试验了不同的人机交互，以证明Foldaway原型的广泛适用性：用于解剖图谱触觉探索的便携式界面;用于与虚拟对象交互的手持操纵杆;以及用于直观和安全遥控无人机的双手控制器。触觉接口对于沉浸式人机交互的开发非常重要。为了创造具有丰富触摸感应功能的紧凑设计，设计了一种名为Foldaway的机器人设备，该设备可以折叠，可以呈现三自由度力反馈。
Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide more comprehensive kinesthetic cues but at the cost of their large volume: there is a clear trade-off between the richness of feedback and the device size. The design and manufacturing challenges in creating complex touch sensations from compact platforms still need to be solved. To overcome the physical limitation of miniaturizing force feedback robots, we adapted origami design principles to achieve portability, accuracy and scalable manufacturing. The result is Foldaway, a foldable origami robot that can render three-degrees-of-freedom force feedback in a compact platform that can fit in a pocket. This robotic platform can track the movement of the user's fingers, apply a force of up to 2 newtons and render stiffness up to 1.2newtons per millimetre. We experimented with different human-machine interactions to demonstrate the broad applicability of Foldaway prototypes: a portable interface for the haptic exploration of an anatomy atlas; a handheld joystick for interacting with virtual objects; and a bimanual controller for intuitive and safe teleoperation of drones. Haptic interfaces are important for the development of immersive human-machine interactions. To create a compact design with rich touch-sensitive functions, a robotic device called Foldaway, which folds flat, has been designed that can render three-degrees-of-freedom force feedback.