A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.
A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.
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DOI：
10.3389/frobt.2018.00083
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发表时间：
2018
影响因子：
3.4
通讯作者：
Onal CD
中科院分区：
文献类型：
--
作者：
Skorina EH;Luo M;Onal CD
软机器人技术的进步提供了一种独特的方法，用于通过软可穿戴设备向用户传递触觉反馈。这种装置可以直接在人体关节上施加力，同时仍然保持在人体附近使用所需的安全性和灵活性。为了利用这些属性，我们提出了一种新的触觉手腕设备，使用压力驱动的软致动器称为反向气动人工肌肉（rPAM）安装在手腕的四个侧面。这些致动器最初是预应变的，并在压力下释放压缩应力，在腕关节周围施加安全扭矩，同时紧凑便携，代表了第一个能够实时反馈的软触觉设备。为了演示该设备的功能实用性，我们创建了一个虚拟路径跟踪任务，其中用户采用他们的手腕的运动来控制他们的具体代理。我们使用的触觉手腕设备，以帮助用户在以下的路径，并研究他们的表现，在多个场景中的触觉反馈和没有。我们的结果量化了可穿戴软机器人触觉反馈对用户表现的影响。具体来说，我们观察到，我们的触觉反馈系统提高了用户的性能，在统计上显着的方式复杂的路径，但没有表现出改善简单的线性路径。根据我们的研究结果，我们预计更广泛的应用可穿戴软机器人触觉设备对直观的用户与机器人，计算机和其他用户的交互。
Advances in soft robotics provide a unique approach for delivering haptic feedback to a user by a soft wearable device. Such devices can apply forces directly on the human joints, while still maintaining the safety and flexibility necessary for use in close proximity to the human body. To take advantage of these properties, we present a new haptic wrist device using pressure-driven soft actuators called reverse pneumatic artificial muscles (rPAMs) mounted on four sides of the wrist. These actuators are originally pre-strained and release compressive stress under pressure, applying a safe torque around the wrist joints while being compact and portable, representing the first soft haptic device capable of real-time feedback. To demonstrate the functional utility of this device, we created a virtual path-following task, wherein the user employs the motion of their wrist to control their embodied agent. We used the haptic wrist device to assist the user in following the path and study their performance with and without haptic feedback in multiple scenarios. Our results quantify the effect of wearable soft robotic haptic feedback on user performance. Specifically, we observed that our haptic feedback system improved the performance of users following complicated paths in a statistically significant manner, but did not show improvement for simple linear paths. Based on our findings, we anticipate broader applications of wearable soft robotic haptic devices toward intuitive user interactions with robots, computers, and other users.