Multi-Finger High Fidelity Haptic Exploration

多指高保真触觉探索

• 批准号: 0303750
• 负责人: Blake Hannaford
• 金额: $ 20.01万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-06-15 至 2006-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0303750&HistoricalAwards=false
• 关键词: Multi; Finger; Fidelity; Haptic; Exploration

Robotics and Human Augmentation ProgramABSTRACTProposal #: 303750Title: Multi-Finger High Fidelity Haptic ExplorationPI: Hannaford, BlakeU of WashingtonHaptic interfaces apply ideas from robotic manipulation science and technology to human interfaces and human augmentation. Current haptic interfaces have proven their feasibility for a variety of applications. Better haptic interfaces could dramatically improve medical training through high fidelity simulators for invasive medical procedures. Such procedures must be taught today on human patients. However, the richness and fidelity of most haptic interfaces is still limited. It is very difficult to engineer a haptic interface with many degrees of freedom (DOF) and also the high bandwidth and low friction necessary for rendering subtle but important details. Before we expend this effort, we should know what if any perceptual benefit is provided by multiple fingered/multi DOF devices. This project will study how human performance in haptic perception and exploration varies as increasing number of fingers are supported through increasing degrees of freedom. An existing high fidelity haptic device for the index finger will be duplicated to support haptic exploration with up to four fingers and two degrees of freedom per finger. This will allow independent variation of number of fingers and number of DOF. A preliminary evaluation of the device will measure performance in detecting small haptic features, and demonstrate haptic exploration of novel surfaces. We will learn whether and how haptic perception performance and strategies vary with the number of fingers and number of fingers per DOF.

摘要提案#:303750标题：多指高保真触觉探索pi: Hannaford， BlakeU of washington触觉接口将机器人操作科学和技术的思想应用于人机界面和人体增强。目前的触觉界面已经证明了它们在各种应用中的可行性。更好的触觉界面可以通过高保真模拟侵入性医疗程序来显著改善医疗培训。今天必须在人类病人身上教授这种程序。然而，大多数触觉界面的丰富性和保真度仍然有限。设计具有多个自由度（DOF）的触觉界面非常困难，而且渲染微妙但重要的细节所需的高带宽和低摩擦也是非常困难的。在我们进行这项工作之前，我们应该知道多指/多自由度设备是否提供了任何感知优势。该项目将研究人类在触觉感知和探索方面的表现如何随着手指数量的增加和自由度的增加而变化。现有的用于食指的高保真触觉设备将被复制，以支持多达四个手指和每个手指两个自由度的触觉探索。这将允许独立变化的手指数量和DOF的数量。该设备的初步评估将测量检测小触觉特征的性能，并展示对新表面的触觉探索。我们将学习触觉感知性能和策略是否以及如何随着手指数量和每个自由度的手指数量而变化。