Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths
Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths
复制标题
基于表面波长实时估计的粗糙感临场感系统
DOI：
10.1109/iros.2007.4399204
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Tadokoro
中科院分区：
文献类型：
--
作者：
S. Okamoto;M. Konyo;T. Maeno;S. Tadokoro
触觉临场感有望成为一种技术，它能鼓励机器人系统的操作者通过机械臂远程操纵物体或识别所接触的材料。在远程环境中，触觉的时间差异是由操作者的触摸动作和施加在其身上的触觉刺激之间的时间延迟造成的。本文提出了一种适用于远程环境的触觉临场感系统框架。在该框架中，触觉显示器与操作者的触摸动作同步本地生成触觉刺激，以消除通信延迟。触觉刺激是通过结合由触觉传感器感知的运动和触觉因素生成的。这些因素是物体的特征参数以及对触觉的影响。在本文中，物体的物理参数被选作这些因素，因为可以使用涉及运动和这些参数的物理模型来计算触觉刺激。基于所提出的框架，实现了一个粗糙度感觉临场感系统，并成功地将粗糙度因素传递给了操作者。
Tactile telepresence has been expected to be technology which encourages operators of robotic systems to remotely maneuver objects or recognize materials being touched through robotic arms. In remote environments, temporal disparity in tactile sensations is caused by temporal latency between a touch motion of the operator and a tactile stimulus applied on him. A framework of tactile telepresence systems, which is suitable in remote environments, has been proposed in the present paper. In the framework, a tactile display locally generates the tactile stimulus in synchronization with the touch motion of the operator in order to cancel communication delay. The tactile stimulus is generated by combining the motion and tactile factors, which are sensed by a tactile sensor. The factors are characteristic parameters of objects and effect on tactile sensations. In the present paper, physical parameters of the objects are selected as the factors because the tactile stimuli can be computed using physical models involving the motions and the parameters. Based on the proposed framework, a roughness feeling telepresence system was implemented and successfully transferred a roughness factor to the operator.
DOI：
10.1145/1077534.1077579
发表时间：
2004-11
影响因子：
5.2
作者：
A. Yamamoto;S. Nagasawa;Hiroaki Yamamoto;T. Higuchi
通讯作者：
A. Yamamoto;S. Nagasawa;Hiroaki Yamamoto;T. Higuchi