权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

A Study on Rehabilitation Using a Tactile-Force Presentation System

使用触觉力演示系统进行康复研究

基本信息

批准号：
16300183
负责人：
OHKA Masahiro
金额：
$ 8.45万
依托单位：
Nagoya University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2006
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16300183/
关键词：
Force Display Tactile Display Rehabilitation Virtual Reality Activity Therapy Bimorph Typed Piezoelectric Actuator Pin Array Peg-in-hole バーチャルリアリティピンアレイペグ・イン・ホール

项目摘要

In the present study, we are attempting to develop a compound display to represent pressure and force via two fingers and the robotic hand in order to provide adequate stimuli to handicapped individuals in order to facilitate recovery of dexterity skills. The compound display comprises an apparatus to be manipulated by one hand, which is called the "master hand". The master hand is equipped with two tactile displays and an articulated manipulator functioning as the force display. There is one tactile display for the index finger and one for the thumb. Each tactile display has a 6-by-4 array of stimulus pins which contacts each finger pad. An operator manipulates the master hand to feel virtual tactile sensation. A virtual object can be handled and moved in two dimensions via the tactile and position feedback delivered through the master hand. To evaluate the display's representational capability, we performed two series of experiments. In Experiment A, human subjects grasped virtual pe … More gs and attempted to judge their diameters. In Experiment B, the human subjects tried to insert various pegs into a hole. In Experiment A, we evaluated the representational capability of the display on the basis of how precisely the peg's diameter can be judged. The results of Experiment A show that the ability to accurately identify grasped-object size is greater when the subject receives both tactile and force feedback. In a "pick up and place" task a human operator grasps objects many times, and so identification accuracy is important for successful completion of such a task. In Experiment B, the subject attempts to insert a virtual peg into a different size hole. As the diameter of the hole increases, the range of angles at which a peg can be successfully inserted decreases. Final attitudes of pressure-force and force-only representations are-0.3 and 2.5°, respectively. A second finding was that when the peg was only slightly smaller in diameter than the hole, the operator sometimes was unable to find the hole, or sank the peg into the wall of the hole. We were able to measure the amount by which the peg penetrated the hole wall. Our compound presentation is effective at enhancing the realism of grasped objects if pressure and force are both represented. The quality of virtual reality could be further improved by means of representing rotational force caused in the process of inserting the virtual peg, which we are currently working to develop. We could not perform a field test with handicapped patients due to unresolved safety issues of the present display, but we anticipate being able to perform such field tests in the near future after meeting the necessary safety requirements. Less

在本研究中，我们正试图开发一种复合显示器，通过两个手指和机器人的手，以提供足够的刺激残疾人，以促进灵活性技能的恢复来表示压力和力。复合显示器包括由称为“主手”的一只手操纵的装置。主手配备了两个触觉显示器和一个关节式机械手作为力显示器。食指和拇指各有一个触觉显示器。每个触觉显示器具有接触每个指垫的6 × 4刺激引脚阵列。操作者操纵主手以感受虚拟触觉。虚拟物体可以通过主手提供的触觉和位置反馈在二维空间中进行处理和移动。为了评估显示器的表征能力，我们进行了两个系列的实验。在实验A中，人类受试者抓住了虚拟游戏。 ...更多信息 gs并试图判断它们的直径。在实验B中，人类受试者试图将不同的钉子插入一个洞。在实验A中，我们评估的基础上，如何准确地判断桩的直径显示的代表性能力。实验A的结果表明，当受试者同时接受触觉和力反馈时，准确识别抓握物体大小的能力更强。在“拾取和放置”任务中，人类操作员多次抓握物体，因此识别精度对于成功完成这样的任务是重要的。在实验B中，受试者尝试将虚拟钉插入不同尺寸的孔中。随着孔的直径增加，钉可以成功插入的角度范围减小。压力表示和纯力表示的最终姿态分别为-0.3 °和2.5°。第二个发现是，当钉的直径仅略小于孔时，操作者有时无法找到孔，或将钉沉入孔壁。我们能够测量出木钉穿透孔壁的量。如果压力和力都被表现出来，我们的复合呈现在增强抓握物体的真实感方面是有效的。我们目前正在努力开发的虚拟现实的质量可以通过表示插入虚拟钉的过程中产生的旋转力来进一步提高。由于目前显示器尚未解决的安全问题，我们无法对残疾患者进行现场测试，但我们预计在满足必要的安全要求后，能够在不久的将来进行此类现场测试。少