Wearable Haptic Feedback for Augmented Human-Machine Interfaces

点击翻译按钮获取中文摘要

Augmented reality describes human/computer interfaces in which operators can simultaneously experience the real world (seeing the true scene in front of them, hearing the real sounds around them, and so on) while at the same time experiencing virtual information that enhances understanding of the environment. This can include context-sensitive labels on real objects, context-sensitive "narration" that changes with location and vibrotactile feedback, which refers to small vibrating motors that can give users an artifical sense of touch. This work exploits the potential of augmented reality. The emphasis is on reality augmented with vibrotactile feedback, to provide natural and intuitive interfaces between human beings and mechatronic systems, especially, but not limited to mobile robots. My goal is to make the interaction between humans and machines less like operating a computer or robot and more like working with a service animal or tool, particularly in the context of machines supporting domain experts in unstructured environments. Robots have been envisioned as support workers for scientists involved in planetary explorations, emergency personnel looking for survivors after natural disasters and even first responders such as fire and ambulance workers. Interacting with this class of robot support worker should not require specialized training, and should not take the humans away from their tasks. The work will proceed in three tracks that address key issues towards the goal of natural interfaces to mechatronic systems. In the first track, we will exploit the potential of vibrotactile feedback in enhancing the stability and performance of human/robot teams moving in formations. In the second track, we will develop novel wearable user interfaces based on augmented reality and vibrotactile feedback that allow operators to interact with multi-robot teams through gestures and real world point-and-click. Finally, in the third track, we will use vibrotactile feedback and context sensitive visual cues to steer operators through blind assembly tasks for maintenance. The unifying element in all three tracks is an exploration of the role of vibrotactile feedback as a method of providing context-sensitive cues to an operator in an unstructured environment.