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

基本信息

  • 批准号:
    1830163
  • 负责人:
  • 金额:
    $ 35.68万
  • 依托单位:
  • 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

项目摘要

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.
这一国家机器人倡议(NRI)项目将通过开发具有分布式触觉刺激的可穿戴软机器人设备来促进科学进步,并有益地影响人类健康和生活质量,使新的交流形式成为可能。在不久的将来,人与机器人的互动将是司空见惯的。在自动驾驶汽车和物理辅助设备等应用中,互动将需要有效和直观的双向交流。在许多情况下,通过视觉和声音传递信息可能会很慢,而且不合适。该项目专注于触觉(基于触摸的)机器人,以显著但私密的方式进行交流,以减轻对其他感觉渠道的需求。该项目服务于国家利益,促进人类感知、心理学和神经科学领域的知识,同时开发融合机器人、触觉和控制工程领域概念的新型融合技术。项目成果将通过用于教育的触觉设备和公开可用的软件和数据进行传播。该项目旨在通过外联计划、公共实验室参观以及对女性和少数族裔研究生、本科生和高中生的指导,扩大未被充分代表的群体对工程学的参与。可穿戴式触觉系统有可能通过未得到充分利用的感觉通道(体感)实现人类和智能系统之间的私人、显著交流。在这项研究中,信息将通过可穿戴的、无处不在的软机器人设备通过触觉通道传输,这些设备可以与人类用户进行被动和主动的触摸互动。这项研究由四个主要目标组成。首先,人类对前臂感知的特征将设定对能够传达一系列触觉提示的二维触觉刺激器的频率、幅度、方向、间隔和时间激励模式的要求。其次,该项目将开发一种可穿戴的、柔软的触觉设备,能够刺激一只前臂的皮肤,同时提供另一只手指尖可以探索的机械刺激。第三,该项目将为触觉设备开发渲染算法,考虑到人类被动刺激手臂和指尖主动探索的感知能力。第四,项目组将创建应用场景来评估和细化系统。可穿戴式触觉系统具有通过各种应用改善人类健康和福祉的潜力,这些应用包括:康复/运动治疗的物理提示;爆炸物拆除;家庭移动机器人等辅助设备的反馈;支持设计和电子商务的触觉通信;沉浸在虚拟世界中进行教育;以及促进人与人之间的远程互动。该奖项反映了NSF的法定使命,并通过使用基金会的智力优势和更广泛的影响审查标准进行评估,被认为值得支持。

项目成果

期刊论文数量(15)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality
虚拟现实中两指操作的触觉反馈从指尖重新定位到手腕
Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet
  • DOI:
    10.1109/lra.2021.3140132
  • 发表时间:
    2019-11
  • 期刊:
  • 影响因子:
    5.2
  • 作者:
    M. Sarac;Tae Myung Huh;Hojung Choi;M. Cutkosky;Massimiliano Di Luca;A. Okamura
  • 通讯作者:
    M. Sarac;Tae Myung Huh;Hojung Choi;M. Cutkosky;Massimiliano Di Luca;A. Okamura
3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback
3 自由度可穿戴式气动触觉设备,可提供法向、剪切、振动和扭转反馈
  • DOI:
    10.1109/whc.2019.8816084
  • 发表时间:
    2019
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Yoshida, Kyle T.;Nunez, Cara M.;Williams, Sophia R.;Okamura, Allison M.;Luo, Ming
  • 通讯作者:
    Luo, Ming
Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm
身体安装振动触觉刺激:同时显示指尖和前臂上的轻敲
  • DOI:
    10.1109/toh.2020.3042955
  • 发表时间:
    2021
  • 期刊:
  • 影响因子:
    2.9
  • 作者:
    Williams, Sophia R.;Okamura, Allison M.
  • 通讯作者:
    Okamura, Allison M.
Stiffness Control of Deformable Robots Using Finite Element Modeling
  • DOI:
    10.1109/lra.2019.2890897
  • 发表时间:
    2019-04-01
  • 期刊:
  • 影响因子:
    5.2
  • 作者:
    Koehler, Margaret;Okamura, Allison M.;Duriez, Christian
  • 通讯作者:
    Duriez, Christian
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Allison Okamura其他文献

1561 KINEMATIC ANALYSIS OF MOTOR PERFORMANCE IN ROBOT-ASSISTED SURGERY: IMPLICATIONS FOR ROBOT DESIGN AND SURGICAL TRAINING
  • DOI:
    10.1016/j.juro.2013.02.3091
  • 发表时间:
    2013-04-01
  • 期刊:
  • 影响因子:
  • 作者:
    Ilana Nisky;Sangram Patil;Michael Hsieh;Allison Okamura
  • 通讯作者:
    Allison Okamura
PD42-12 DESIGN, FABRICATION, AND TESTING OF PATIENT-SPECIFIC CONCENTRIC TUBE ROBOTS FOR NONLINEAR RENAL ACCESS AND MASS ABLATION
  • DOI:
    10.1016/j.juro.2017.02.1904
  • 发表时间:
    2017-04-01
  • 期刊:
  • 影响因子:
  • 作者:
    Tania Morimoto;Joseph Greer;Elliot Hawkes;Allison Okamura;Michael Hsieh
  • 通讯作者:
    Michael Hsieh

Allison Okamura的其他文献

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{{ truncateString('Allison Okamura', 18)}}的其他基金

PFI-TT: Vine Robots for In-Pipe Navigation and Inspection of Critical Infrastructure
PFI-TT:用于管道内导航和关键基础设施检查的 Vine 机器人
  • 批准号:
    2345769
  • 财政年份:
    2024
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
Collaborative Research: HCC: Small: Computational Design and Application of Wearable Haptic Knits
合作研究:HCC:小型:可穿戴触觉针织物的计算设计与应用
  • 批准号:
    2301355
  • 财政年份:
    2023
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
NSF Convergence Accelerator Track H: Appropriate Rehabilitation Technology via Passive Tactile Stimulation
NSF 融合加速器轨道 H:通过被动触觉刺激的适当康复技术
  • 批准号:
    2236014
  • 财政年份:
    2022
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
NRI: FND: Computational and Interactive Design of Soft Growing Robot Manipulators
NRI:FND:软体生长机器人操纵器的计算和交互设计
  • 批准号:
    2024247
  • 财政年份:
    2020
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
CHS: Small: Collaborative Research: Wearable Fingertip Haptic Devices for Virtual and Augmented Reality: Design, Control, and Predictive Tracking
CHS:小型:协作研究:用于虚拟和增强现实的可穿戴指尖触觉设备:设计、控制和预测跟踪
  • 批准号:
    1812966
  • 财政年份:
    2018
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
NRI: Vine Robots: Achieving Locomotion and Construction by Growth
NRI:藤蔓机器人:通过生长实现运动和建造
  • 批准号:
    1637446
  • 财政年份:
    2016
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
EXP: Hands-on Haptics Laboratories for Classroom and Online Learning
EXP:用于课堂和在线学习的动手触觉实验室
  • 批准号:
    1441358
  • 财政年份:
    2014
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
HCC: Small: Haptic Realism versus Haptic Utility
HCC:小:触觉真实性与触觉实用性
  • 批准号:
    1217635
  • 财政年份:
    2012
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant
NRI-Large: Collaborative Research: Multilateral Manipulation by Human-Robot Collaborative Systems
NRI-Large:协作研究:人机协作系统的多边操纵
  • 批准号:
    1227406
  • 财政年份:
    2012
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Continuing Grant
MRI: Development of Infrastructure for Integrated Sensing, Modeling, and Manipulation with Robotic and Human-Machine Systems
MRI:开发用于机器人和人机系统的集成传感、建模和操作的基础设施
  • 批准号:
    0722943
  • 财政年份:
    2007
  • 资助金额:
    $ 35.68万
  • 项目类别:
    Standard Grant

相似国自然基金

Novosphingobium sp. FND-3降解呋喃丹的分子机制研究
  • 批准号:
    31670112
  • 批准年份:
    2016
  • 资助金额:
    62.0 万元
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  • 批准号:
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NRI: FND: COLLAB: Design of dynamic multibehavioral robots: new tools to consider design tradeoff and enable more capable robotic systems
NRI:FND:COLLAB:动态多行为机器人的设计:考虑设计权衡并实现功能更强大的机器人系统的新工具
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NRI: FND: COLLAB: An Open-Source Robotic Leg Platform that Lowers the Barrier for Advanced Prosthetics Research
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  • 批准号:
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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
  • 财政年份:
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  • 资助金额:
    $ 35.68万
  • 项目类别:
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