Closed-loop shape control of a Haptic Jamming deformable surface
Closed-loop shape control of a Haptic Jamming deformable surface
复制标题
触觉干扰可变形表面的闭环形状控制
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
A. Okamura
中科院分区：
文献类型：
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作者：
Andrew A. Stanley;K. Hata;A. Okamura
触觉干扰触觉显示器由一系列薄颗粒干扰单元组成，可以通过对单个单元进行真空处理、对表面下方的空气室进行加压以及将单元之间的节点固定在不同高度的组合来同时改变其形状和机械特性。在先前用于触觉和软机器人的粒子干扰设备中，形状通常由人类用户开环命令或直接操纵。设计了一种新的算法，用于三种类型的驱动输入的触觉干扰表面，使用由RGB-D传感器提供的深度图作为闭环控制的形状反馈，以匹配所需的表面输入。为了测试系统的闭环控制精度，触觉干扰设备的质量弹簧模型生成了三个独特的表面形状，作为控制器的期望输入，平均高度范围为25.1 mm。对于每个形状，在四次试验中，期望输入形状与控制器在实际设备上生成的实验输出之间的平均相关系数为0.88，平均高度误差为2.7 mm。当从触觉干扰表面不一定能够重新创建的对象的3D模型生成期望的输入表面时，输入和输出之间的差异显著增加。然而，对更大阵列的模拟表明，触觉干扰表面可以为这些更复杂的形状提供令人信服的匹配。
A Haptic Jamming tactile display, consisting of an array of thin particle jamming cells, can change its shape and mechanical properties simultaneously through a combination of vacuuming individual cells, pressurizing the air chamber beneath the surface, and pinning the nodes between the cells at various heights. In previous particle jamming devices for haptics and soft robotics, shape has typically been commanded open-loop or manipulated directly by a human user. A new algorithm was designed for the three types of actuation inputs for a Haptic Jamming surface, using the depth map provided by an RGB-D sensor as shape feedback for closed-loop control to match a desired surface input. To test the closed-loop control accuracy of the system, a mass-spring model of the Haptic Jamming device generated three unique surface shapes as desired inputs into the controller with a mean height range of 25.1 mm. The average correlation coefficient between the desired input shape and the experimental output generated by the controller on the actual device across four trials for each shape was 0.88, with an average height error of 2.7 mm. When the desired input surface is generated from a 3D model of an object that a Haptic Jamming surface cannot necessarily re-create, the difference between the input and the output increases substantially. However, simulation of a larger array suggests that a Haptic Jamming surface can provide a compelling match for these more complicated shapes.