HaPPArray: Haptic Pneumatic Pouch Array for Feedback in handheld Robots
HaPPArray: Haptic Pneumatic Pouch Array for Feedback in handheld Robots
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HaPPArray：用于手持机器人反馈的触觉气动袋阵列
DOI：
10.1109/icra48891.2023.10160648
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Tania. K. Morimoto
中科院分区：
文献类型：
--
作者：
Xiaolei Luo;Jui;Tania. K. Morimoto
触觉反馈可以在具有挑战性的任务期间为手持式机器人的操作员提供主动指导，并提供有关环境交互的关键信息。然而，为了使这种触觉反馈有效，它必须重量轻，能够集成到手持形状因子中，并且能够显示容易辨别的提示。我们提出了HaPPArray的设计和评价-触觉气动袋阵列-其中气动袋可以单独或顺序致动，以提供信息给用户。将3x 3阵列的袋集成到手柄中，代表手持式机器人的接口。当单独致动时，用户能够以86%的准确度正确识别被致动的袋，并且当顺序致动时，用户能够以89%的准确度正确识别相关的方向提示。这些结果，沿着演示的方向线索如何可以用于医疗机器人的触觉引导，表明HaPPArray可以是一种有效的方法，为手持机器人提供触觉反馈。
Haptic feedback can provide operators of hand-held robots with active guidance during challenging tasks and with critical information on environment interactions. Yet for such haptic feedback to be effective, it must be lightweight, capable of integration into a hand-held form factor, and capable of displaying easily discernible cues. We present the design and evaluation of HaPPArray - a haptic pneumatic pouch array - where the pneumatic pouches can be actuated alone or in sequence to provide information to the user. A 3x3 array of pouches was integrated into a handle, representative of an interface for a hand-held robot. When actuated individually, users were able to correctly identify the pouch being actuated with 86% accuracy, and when actuated in sequence, users were able to correctly identify the associated direction cue with 89 % accuracy. These results, along with a demonstration of how the direction cues can be used for haptic guidance of a medical robot, suggest that HaPPArray can be an effective approach for providing haptic feedback for hand-held robots.
DOI：
10.1109/tvcg.2017.2656978
发表时间：
2017-04
影响因子：
5.2
作者：
André Zenner;A. Krüger
通讯作者：
André Zenner;A. Krüger
影响因子：
7.8
作者：
Girerd, Cedric;Morimoto, Tania K.
通讯作者：
Morimoto, Tania K.
影响因子：
7.9
作者：
Moghadam, Amir Ali Amiri;Alaie, Seyedhamidreza;Mosadegh, Bobak
通讯作者：
Mosadegh, Bobak