Soft Haptic Device to Render the Sensation of Flying Like a Drone
Soft Haptic Device to Render the Sensation of Flying Like a Drone
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软触觉设备呈现像无人机一样飞行的感觉
DOI：
10.1109/lra.2019.2907432
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发表时间：
2019
影响因子：
5.2
通讯作者：
Okamura, Allison M.
中科院分区：
文献类型：
--
作者：
Rognon, Carine;Koehler, Margaret;Duriez, Christian;Floreano, Dario;Okamura, Allison M.
在虚拟现实或远程操作中，躯干的触觉反馈可以增强用户的状态意识，同时腾出双手进行操作和交流。我们在躯干上提供触觉反馈，通过对皮肤压缩一组封闭的气袋，以呈现驾驶无人机时的气压感。这些袋装设备由电缆驱动，并集成在一个名为FlyJacket的可穿戴软外骨骼中。为了确定合适的参数，包括气囊内压力、气囊附着点和电缆位置，建立了气囊装置的力学模型并进行了仿真。根据仿真结果，构建了一套育儿袋装置，并将其集成到上胸部两侧和背部中部的软外骨骼中。所构建装置的力学性能与仿真预测结果接近。触觉设备在飞行任务中的应用，其中用户控制使用上半身运动的无人机演示与用户研究。在稳定任务中增加触觉反馈减少了用户的工作量，提高了用户的状态感知。
Haptic feedback located on the torso is proposed to enhance the state awareness of a user in virtual reality or during teleoperation while leaving the hands free for manipulation and communication. We provide haptic feedback on the torso by compressing a set of closed air pouches against the skin in order to render the sensation of air pressure when piloting a drone. The pouch devices are cable driven and integrated in a wearable soft exoskeleton, called the FlyJacket. A mechanical model and simulation of a pouch device were developed in order to determine appropriate parameters, including the air pouch inner pressure, its attachment point, and the cable position. Using the simulation results, a set of pouch devices were constructed and integrated into the soft exoskeleton on both sides of the upper chest and middle of the back. The mechanical performance of the constructed device is close to that predicted by the simulation. Application of the haptic device in a flight task in which the user controls a drone using upper body movements was demonstrated with a user study. Adding haptic feedback during a stabilization task reduced the user's workload and improved the state awareness of the user.
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