Investigation of the usability of pseudo-haptic feedback in teleoperation
Investigation of the usability of pseudo-haptic feedback in teleoperation
复制标题
远程操作中伪触觉反馈可用性的调查
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
R. Werthschützky
中科院分区：
文献类型：
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作者：
C. Neupert;S. Matich;C. Hatzfeld;M. Kupnik;R. Werthschützky
伪触觉是一种基于视觉刺激的错觉。在虚拟环境中，伪力反馈的原理被用来模拟材料的刚度、质量和摩擦力等特性。将伪力觉反馈的原理应用到真实的力觉遥操作系统中，可以在没有主动力觉反馈的情况下，为被操作物体的特性提供触觉感知。因此，伪触觉反馈的遥操作系统的实现减少了所使用的触觉用户接口的运动结构和致动器的要求，在这项工作中，我们讨论了伪触觉反馈的可用性，其应用在遥操作系统。伪触觉反馈的机制在理论上解释了一个示例性的遥操作任务。导出了改变用户伪触觉感觉的强度的选项。伪力觉反馈的遥操作效果是基于在末端执行器的实际测量的相互作用力来改变输入输出比。一个自由度的遥操作系统，用于第一次实验与伪触觉反馈的遥操作。所使用的遥操作系统将用户输入力耦合到末端执行器的限定位移。我们的研究结果证明了伪触觉反馈的有效性，在遥操作的顺应性判别实验。
Pseudo haptic sensation is an illusion based on visual stimuli. In virtual environments the principle of pseudo haptic feedback is used to simulate material properties such as stiffness, mass and friction. Transfering the principle of pseudo haptic feedback to real haptic teleoperation systems can provide a haptic sensation for properties of material, manipulated without active haptic feedback. Hence, the implementation of pseudo haptic feedback to teleoperation systems reduces the requirements for kinematic structures and actuators of the used haptic user interface .In this work, we discuss the usability of pseudo haptic feedback for its application in teleoperation systems. The mechanisms of pseudo-haptic feedback are theoretically explained for an exemplary teleoperation task. Options to vary the intensity of the users pseudo haptic sensation are derived. The effect of pseudo haptic feedback for teleoperation is based on changing the input-output ratio by actual measured interaction forces at the end-effector. A one degree of freedom teleoperation system is used for first experiments with pseudo haptic feedback in teleoperation. The used teleoperation system couples users input force to a defined displacement of an end-effector. Our results prove the validity of pseudo-haptic feedback in teleoperation by a compliance discrimination experiment.