HCC: Small: Haptic Realism versus Haptic Utility

HCC：小：触觉真实性与触觉实用性

• 批准号: 1217635
• 负责人: Allison Okamura
• 金额: $ 40.64万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-09-01 至 2016-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1217635&HistoricalAwards=false
• 关键词: HCC; Small; Haptic; Realism; versus

While numerous studies have focused on the design of novel controllers and devices to enhance the user experience of teleoperated and virtual environments, our general understanding of what makes a haptic interface acceptable to human operators is limited. The addition of haptic feedback to a computer-mediated task, such as training to perform a surgical procedure in a virtual environment or teleoperating a robot to dispose of explosive ordnance, has been hypothesized to improve the speed, accuracy, and precision of task performance. However, the benefits of haptic feedback have been insufficient to motivate inclusion of haptics in many mission-critical systems. Recent publications in the haptics literature have shown confusing results regarding the role of haptic feedback, such as haptic teleoperators that have high user acceptance and realism ratings but do not have any effect on user performance, as well as haptic teleoperators that are disliked by users yet lead to significant improvements in performance. The PI's goal in this project is to identify the salient parameters of haptic systems leading to haptic realism and haptic utility, their trade-offs, and - hopefully - their complementary features that lead to haptic systems that are realistic and useful, and therefore acceptable to human operators in high-risk scenarios. She plans to approach this problem by examining manipulation and exploration with bilateral teleoperators, where haptic feedback consists of vibrotactile and kinesthetic feedback mediated by a tool. System parameters of interest include feedback gain and frequency content, device mechanical properties, and time delay. For each parameter, the PI will examine its effect on realism and utility, specifically: how users subjectively rate realism and their own performance, and objective measures and theoretical predictions of user perception and performance. In addition, she will survey user acceptance and measure affect, and compare these to measures of realism and utility. Based on these results, she will design and test haptic feedback systems that should maximize user acceptance. This framework will allow her to answer relevant questions such as: What is the spectrum of cost-benefit ratios in bilateral teleoperation, considering the role of device performance in defining the limits of haptic realism and utility? How does the level of risk in a task affect user acceptance of haptic interfaces? Can we design "haptic cartoons" analogous to medical illustrations, which are not completely realistic but display the most important haptic features in order to maximize task performance? And is there a haptic "uncanny valley" in which slightly unrealistic haptic feedback is particularly disturbing to operators?Broader Impacts: Effective haptic feedback systems will improve human health and well being through applications such as surgery and explosive ordnance disposal. This project will provide the field of computer-mediated haptics with a theoretical and experimental framework to describe the effects of system design choices on user acceptance of tool-based haptic teleoperators. The framework will likely apply to other forms of haptic display (such as sensory substitution and spatially distributed tactile feedback) and in other haptic feedback scenarios (e.g., medical training and the transfer of learning in simulation to real-world tasks). Project outcomes will be disseminated through software and data made publicly available on the PI's laboratory website, a conference workshop, and a new course on haptic design. Outreach programs, public lab tours, and mentoring of female and minority graduate students, undergraduates, and high school students will broaden participation of underrepresented groups in engineering.

虽然许多研究都集中在设计新颖的控制器和设备，以提高用户的远程操作和虚拟环境的体验，我们的一般理解是什么使触觉界面可以接受的人类操作员是有限的。 触觉反馈添加到计算机介导的任务，如训练在虚拟环境中执行外科手术或远程操作机器人处理爆炸性弹药，已被假设为提高任务执行的速度，准确性和精度。 然而，触觉反馈的好处已经不足以激励在许多关键任务系统中包含触觉。 最近出版物中的触觉文献显示了令人困惑的结果，关于触觉反馈的作用，如触觉遥控器，具有较高的用户接受度和现实主义的评级，但没有任何影响用户的性能，以及触觉遥控器，不喜欢的用户，但导致显着改善性能。 PI在这个项目中的目标是识别触觉系统的突出参数，导致触觉现实主义和触觉效用，他们的权衡，并-希望-他们的互补功能，导致触觉系统是现实的和有用的，因此可以接受的人类操作员在高风险的情况下。 她计划通过研究操纵和探索双边遥控操作员，触觉反馈包括由工具介导的振动触觉和动觉反馈来解决这个问题。 感兴趣的系统参数包括反馈增益和频率内容、器件机械特性和时间延迟。 对于每个参数，PI将检查其对真实性和实用性的影响，特别是：用户如何主观地评价真实性和他们自己的表现，以及用户感知和表现的客观测量和理论预测。 此外，她还将调查用户的接受程度和衡量影响，并将其与现实主义和实用性的衡量标准进行比较。 基于这些结果，她将设计和测试触觉反馈系统，以最大限度地提高用户的接受度。 这个框架将允许她回答相关的问题，如：什么是频谱的成本效益比双边遥操作，考虑到设备性能的作用，在定义触觉现实主义和实用性的限制？ 任务中的风险水平如何影响用户对触觉接口的接受？ 我们能否设计类似于医学插图的“触觉卡通”，它不完全真实，但显示最重要的触觉特征，以最大限度地提高任务性能？ 是否存在一个触觉“恐怖谷”，其中稍微不切实际的触觉反馈特别令操作员不安？更广泛的影响：有效的触觉反馈系统将通过手术和爆炸物处理等应用改善人类健康和福祉。 该项目将提供一个理论和实验框架，以描述系统设计选择对用户接受的工具为基础的触觉遥控操作员的影响，以计算机为媒介的触觉领域。 该框架将可能应用于其他形式的触觉显示（例如感觉替代和空间分布的触觉反馈）和其他触觉反馈场景（例如，医学培训和将模拟中的学习转移到现实世界的任务）。 项目成果将通过PI实验室网站上公开的软件和数据、会议研讨会和触觉设计新课程进行传播。 外展计划，公共实验室图尔斯之旅，以及对女性和少数民族研究生，本科生和高中生的指导将扩大工程中代表性不足的群体的参与。