A Fingertip Glove with Motor Rotational Acceleration Enables Stiffness Perception When Grasping a Virtual Object
A Fingertip Glove with Motor Rotational Acceleration Enables Stiffness Perception When Grasping a Virtual Object
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DOI：
10.1007/978-3-319-92043-6_39
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发表时间：
2018-07
期刊：
影响因子：
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通讯作者：
Vibol Yem;H. Kajimoto
中科院分区：
文献类型：
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作者：
Vibol Yem;H. Kajimoto
我们开发了一个3D虚拟现实系统，包括两个指尖手套和手指动作捕捉设备，以提供力反馈感觉时，抓住一个虚拟对象。每个手套通过DC电机的不对称振动向指尖提供伪力感觉。在本文中，我们描述了我们的算法提供这种错觉力反馈，以及视觉反馈，其中涉及变形的虚拟对象的形状。我们还进行了一项实验，以调查是否呈现伪力的感觉，拇指和食指的尖端在把握使参与者能够解释虚拟物体的材料刚度。我们改变了初始振动幅度，这代表了拇指和食指最初接触物体表面时的反作用力，并要求参与者将每个触觉反馈条件与视觉反馈条件相匹配。研究发现，当初始振动较弱时，大多数被试选择橡胶或木材材料（任务1）和高变形材料（任务2）;当初始振动较强时，大多数被试选择木材或铝（任务1）和非变形材料（任务2）。
We developed a 3D virtual reality system comprising two fingertip gloves and a finger-motion capture device to deliver a force feedback sensation when grasping a virtual object. Each glove provides a pseudo-force sensation to a fingertip via asymmetric vibration of a DC motor. In this paper, we describe our algorithms for providing this illusionary force feedback, as well as visual feedback, which involved deforming the shape of a virtual object. We also conducted an experiment to investigate whether presenting pseudo-force sensation to the tip of the thumb and index finger during grasping enabled participants to interpret the material stiffness of a virtual object. We changed the initial vibration amplitude, which represents the reaction force when the thumb and the index finger initially contact the surface of an object, and asked participants to match each haptic feedback condition with a visual feedback condition. We found that most participants chose the rubber or wood material (task 1) and highly deformable material (task 2) when the initial vibration was weak, and chose the wood or aluminum (task 1) and non-deformable material (task 2) when the initial vibration was strong.