NRI: FND: COLLAB: Intuitive, Wearable Haptic Devices for Communication with Ubiquitous Robots

NRI：FND：COLLAB：用于与无处不在的机器人通信的直观、可穿戴触觉设备

• 批准号: 1830146
• 负责人: Marcia O'Malley
• 金额: $ 32.72万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-01 至 2022-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830146&HistoricalAwards=false
• 关键词: NRI; FND; COLLAB; Intuitive; Wearable

This National Robotics Initiative (NRI) project will promote the progress of science and beneficially impact human health and quality of life by developing wearable soft robotic devices with distributed tactile stimulation that enable new forms of communication. Human-robot interactions will be commonplace in the near future. In applications such as self-driving cars and physically assistive devices, interaction will require effective and intuitive bidirectional communication. Transferring information through vision and sound can be slow and inappropriate in many circumstances. This project focuses on haptic (touch-based) robotics to enable communication in a salient but private manner that alleviates demands on other sensory channels. This project serves the national interest by advancing knowledge in the fields of human perception, psychology and neuroscience, while developing novel, convergent technology that integrates concepts across the fields of robotics, haptics, and control engineering. Project results will be disseminated through tactile haptic devices for education and publicly available software and data. The project aims to broaden participation of underrepresented groups in engineering through outreach programs, public lab tours, and the mentoring of female and minority graduate students, undergraduates, and high school students.Wearable haptic systems have the potential to enable private, salient communication between humans and intelligent systems through an underutilized sensory channel (somatosensation). In this research, information will be transmitted through the haptic channel via wearable, ubiquitous, soft robotic devices that provide both passive and active touch interactions with the human user. This research is comprised of four main objectives. First, a characterization of human perception of the forearm will set the requirements for the frequency, amplitude, directions, spacing, and temporal actuation patterns for a two-dimensional array of haptic stimulators that are able to convey a range of haptic cues. Second, the project will develop a wearable, soft, haptic device able to stimulate the skin of one forearm, while also providing mechanical stimuli that are intended to be explored by the fingertips of the other hand. Third, the project will develop rendering algorithms for the haptic device that take into consideration human perceptual abilities for passive stimulation of the arm and active exploration by the fingertips. Fourth, the project team will create application scenarios to evaluate and refine the system. Wearable haptic systems have potential to improve human health and well-being through a variety of applications including: physical cueing for rehabilitation/movement therapy; explosive ordnance defusing; feedback from assistive devices including mobile robots in the home; tactile communication to enable design and e-commerce; immersion in virtual worlds for education; and the facilitation of remote interaction between people.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该国家机器人计划（NRI）项目将通过开发具有分布式触觉刺激的可穿戴柔软的机器人设备来促进人类健康和生活质量，从而促进人类健康和生活质量，从而促进新形式的交流形式，从而促进人类健康和生活质量。在不久的将来，人类机器人的互动将是司空见惯的。 在自动驾驶汽车和身体辅助设备等应用中，相互作用将需要有效，直观的双向通信。 在许多情况下，通过视觉和声音传输信息可能会缓慢且不合适。 该项目着重于触觉（基于触摸的）机器人技术，可以以显着但私人的方式进行沟通，从而减轻对其他感官渠道的需求。该项目通过促进人类感知，心理学和神经科学领域的知识来促进国家利益，同时开发了新颖的，融合的技术，该技术将概念整合在机器人，触觉和控制工程领域的领域。项目结果将通过触觉触觉设备进行传播，以用于教育以及公开可用的软件和数据。该项目旨在通过外展计划，公共实验室旅行以及对女性和少数族裔研究生，本科生和高中生的指导来扩大代表性不足的团体在工程中的参与。易感触觉系统有可能通过未经缺乏​​的感官频道（体外频道）在人类和智能系统之间进行私人，显着的沟通。在这项研究中，信息将通过可穿戴，无处不在的软机器人设备通过触觉通道传输，这些设备可与人类用户提供被动和主动的触摸相互作用。这项研究由四个主要目标组成。首先，人类对前臂感知的表征将为二维触觉刺激剂的频率，振幅，方向，间距和时间驱动模式设定要求，这些触觉刺激剂能够传达一系列触觉线索。其次，该项目将开发一种可穿戴，柔软的触觉装置，能够刺激一个前臂的皮肤，同时还提供了旨在通过另一只手的指尖探索的机械刺激。第三，该项目将为触觉设备开发渲染算法，这些效果设备考虑人类感知能力以被动刺激手臂和指尖主动探索。第四，项目团队将创建应用程序方案，以评估和完善系统。可穿戴的触觉系统有可能通过各种应用来改善人类健康和福祉，包括：康复/运动疗法的物理提示；爆炸性的军械降解；辅助设备的反馈，包括房屋中的移动机器人；触觉通信以实现设计和电子商务；沉浸在虚拟世界中的教育中；这一奖项反映了NSF的法定任务，并通过基金会的知识分子优点和更广泛的影响审查标准来评估，反映了NSF的法定任务。

项目成果

A Cutaneous Haptic Cue Characterization Testbed

皮肤触觉提示表征测试台

• DOI: 10.1109/whc.2019.8816086
• 发表时间: 2019
• 期刊: 2019 IEEE World Haptics Conference (WHC
• 作者: Fleck, Joshua J.;Zook, Zane A.;Tjandra, Tiffani W.;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.

Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze

干扰对拉伸和挤压的多感官触觉感知的影响

• DOI: 10.1109/whc.2019.8816139
• 发表时间: 2019
• 期刊: 2019 IEEE World Haptics Conference (WHC
• 作者: Zook, Zane A.;Fleck, Joshua J.;Tjandra, Tiffani W.;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.

Evaluating the Effect of Stimulus Duration on Vibrotactile Cue Localizability With a Tactile Sleeve

• DOI: 10.1109/toh.2021.3079727
• 发表时间: 2021-04-01
• 期刊: IEEE TRANSACTIONS ON HAPTICS
• 影响因子: 2.9
• 作者: S. Macklin, Alix;M. Yau, Jeffrey;K. O'Malley, Marcia
• 通讯作者: K. O'Malley, Marcia

The Influence of Cue Presentation Velocity on Skin Stretch Perception

提示呈现速度对皮肤拉伸感知的影响

• DOI: 10.1109/whc.2019.8816120
• 发表时间: 2019
• 期刊: 2019 IEEE World Haptics Conference (WHC
• 作者: Kim, Sung Y.;Clark, Janelle P.;Kortum, Philip;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.

Snaptics: Low-Cost Open-Source Hardware for Wearable Multi-Sensory Haptics

• DOI: 10.1109/whc49131.2021.9517172
• 发表时间: 2021-01-01
• 期刊: 2021 IEEE WORLD HAPTICS CONFERENCE (WHC)
• 作者: Zook, Zane A.;Ozor-Ilo, Ozioma O.;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.