Multi-Finger High Fidelity Haptic Exploration

机器人和人类增强程序建议#：303750标题：多指高保真触觉探索PI：Hannaford，BlakeU of Washington将机器人操纵科学和技术的思想应用到人类界面和人类增强中。目前的触觉接口已经证明了它们在各种应用中的可行性。通过用于侵入性医疗程序的高保真模拟器，更好的触觉界面可以极大地改善医疗培训。这样的程序必须在今天的人类患者身上传授。然而，大多数触觉界面的丰富性和保真度仍然有限。设计一个具有多个自由度(DOF)的触觉界面是非常困难的，而且还需要高带宽和低摩擦来呈现微妙但重要的细节。在我们展开这项工作之前，我们应该知道多指/多自由度设备是否提供了任何感知上的好处。这个项目将研究人类在触觉感知和探索方面的表现如何随着越来越多的手指通过增加的自由度得到支持而发生变化。现有的食指高保真触觉设备将被复制，以支持最多四个手指和每个手指两个自由度的触觉探索。这将允许手指数量和自由度数量的独立变化。对该设备的初步评估将测量在检测微小触觉特征方面的性能，并展示对新表面的触觉探索。我们将学习触觉感知性能和策略是否以及如何随手指数量和每个自由度的手指数量而变化。

Robotics and Human Augmentation ProgramABSTRACTProposal #: 303750Title: Multi-Finger High Fidelity Haptic ExplorationPI: Hannaford, BlakeU of WashingtonHaptic interfaces apply ideas from robotic manipulation science and technology to human interfaces and human augmentation. Current haptic interfaces have proven their feasibility for a variety of applications. Better haptic interfaces could dramatically improve medical training through high fidelity simulators for invasive medical procedures. Such procedures must be taught today on human patients. However, the richness and fidelity of most haptic interfaces is still limited. It is very difficult to engineer a haptic interface with many degrees of freedom (DOF) and also the high bandwidth and low friction necessary for rendering subtle but important details. Before we expend this effort, we should know what if any perceptual benefit is provided by multiple fingered/multi DOF devices. This project will study how human performance in haptic perception and exploration varies as increasing number of fingers are supported through increasing degrees of freedom. An existing high fidelity haptic device for the index finger will be duplicated to support haptic exploration with up to four fingers and two degrees of freedom per finger. This will allow independent variation of number of fingers and number of DOF. A preliminary evaluation of the device will measure performance in detecting small haptic features, and demonstrate haptic exploration of novel surfaces. We will learn whether and how haptic perception performance and strategies vary with the number of fingers and number of fingers per DOF.