Variable Compliance Haptic Field Displays

项目ID: 0413204项目名称：高露洁，爱德华组织：西北大学标题：可变顺应性触觉场显示器摘要本研究将解决一类新的触觉设备：“触觉场显示器”（HFDs）。HFDs是由柔性图形显示器覆盖的可移动引脚或“tactel”的大规模阵列。HFD引脚阵列将非常像用于显示盲文或虚拟环境的“触觉阵列”，但有一些关键的区别。例如，HFDs将是全屏的，可以用指尖或多个手指进行扫描。它们不是通过主动控制每个单元的位移或力来操作，而是通过控制顺从来操作。这项研究的智力价值源于两组研究。首先是一组心理物理研究，将为HFDs提供定量规范，包括策略依从性的必要动态范围和依从性的分辨率（或只是显着差异）。这些研究也将导致一组初始的HFD原语，自然编码的启示（如推，滑动或旋转）。最后，这些实验将评估人类操作员在使用HFDs时的表现，特别是在空间定位和模拟水平设置任务中。第二组研究将解决电子可编程HFD单元的设计和集成，每个单元都是一个中尺度机电一体化系统，包括可变顺应机制、驱动和传感。这些研究将集中在两种低功率“半主动”方法的中尺度实现上：通过控制孔板实现可变阻尼，以及通过在指尖和柔性元件之间放置无级变速器（CVT）实现可变柔度。这项研究更广泛的影响包括提高正常功能人群图形界面的可用性，以及增加不同功能人群（如老年人、弱视者和盲人）界面的可访问性。此外，在对视觉有高要求的情况下，它有可能提高安全性和实用性。例如，HFDs将允许汽车驾驶员将视觉注意力集中在道路上，同时利用汽车中可能发现的越来越多的电子设备。这项研究还将更广泛地影响西北大学的本科和研究生教育：策略设计和控制将被整合到至少两门由pi教授的基于项目的课程中。

Prop ID: 0413204 P I: Colgate, J. Edward Organization: Northwestern University Title: Variable Compliance Haptic Field Displays AbstractThis research will address a novel class of haptic devices: "Haptic Field Displays" (HFDs). HFDs are large scale arrays of moveable pins or "tactels" covered by a flexible graphical display. HFD pin arrays will be much like the "tactile arrays" that have been developed for displaying Braille or virtual environments, but with some key differences. For instance, HFDs will be full-screen enabling scanning with the fingertip or using multiple fingers. They will operate not by actively controlling the displacement or force of each tactel, but by controlling compliance. The intellectual merit of this research stems from two sets of studies. The first is a set of psychophysical studies that will provide quantitative specifications for HFDs including the necessary dynamic range of tactel compliance and the resolution (or just noticeable difference) of compliance. These studies will also lead to an initial set of HFD primitives that naturally encode affordances (such as pushing, sliding or rotating). Finally, these experiments will assess human operator performance in using HFDs, especially in spatial localization and analog level-setting tasks. The second set of studies will address the design and integration of electronically programmable HFD tactels, each a meso-scale mechatronic system including a variable compliance mechanism, actuation and sensing. These studies will focus on the meso-scale realization of two low power "semi-active" approaches: variable damping achieved by controlling an orifice, and variable compliance achieved by placing a continuously variable transmission (CVT) between the fingertip and compliant element. Broader impacts of this research include the potential to improve the usability of graphical interfaces for normally-abled populations, as well as increase the accessibility of interfaces for differently-abled populations such as the elderly, those with low vision, and those who are blind. In addition, it has the potential to increase safety and utility in situations where high demands are placed on vision. For instance, HFDs would allow automobile drivers to focus visual attention on the road while simultaneously taking advantage of the growing assortment of electronic devices that may be found in a vehicle. This research will also impact undergraduate and graduate education at Northwestern more generally: tactel design and control will be integrated into at least two project-based courses taught by the P.I.s.