Sympathetic Haptics: Learning Through Computer Mediated Skill Transfer

摘要：在本研究中，pi将研究如何构建一种新的范例，即“交感触觉”，通过计算机介导的协作来训练手工技能。交感触觉是pi提出的一个术语，用来定义一种技术，它允许学生“交感”地感受到（在触觉或运动的感觉上）另一个人在做一项活动时的感觉（例如，弹奏钢琴和弦或使用手术工具的感觉）。这些方法可以用来教新手如何以专家的方式执行这些任务。这些先进的科学、技术、工程和数学（STEM）学习技术的应用和方面将使用作为这项工作的一部分开发的试验台在各种领域进行系统的研究。提出的工作背后的一个动机是触觉模拟技术的可用性，范围从简单的力反馈操纵杆到先进的6自由度（DOF）专用触觉设备，以及这些设备之间连接的软件和硬件手段。这些技术将使人们能够捕捉、存储和交流人与人之间的各种力量感觉，也许有一天，人们可以伸出手来触摸别人，并分享身体技能，就像今天人们分享视频和音频短信一样。拟议的工作将解决四个目标：首先，它将开发一个框架，用于捕获教师在熟练手工任务中应用的力和运动属性。其次，它将开发一种方法来传输和/或综合模拟力和运动的模式。第三，也是最重要的是，交感触觉的概念本身将允许学生在特殊帮助下积极跟踪熟练教师所做的动作，从而体验执行熟练任务所涉及的力量和触觉效果。第四，这个系统不仅可以让学生体验到老师记录的内容，还可以让学生一遍又一遍地重复这个过程，作为一种学习工具。

ABSTRACTIn the proposed work, the PIs will investigate methods to construct a new paradigm for training manual skills using computer-mediated collaboration termed "Sympathetic Haptics." Sympathetic Haptics is a term that PIs have proposed to define technologies that allow a student to "sympathetically" feel (in the sense of touch or movement) what another person is feeling when he or she does an activity (for instance, how it feels to play a piano chord, or use a surgical tool). These methods can be used to teach novices how to perform such tasks in the way that an expert does them. Applications and aspects of these advanced learning technologies for Science, Technology, Engineering, and Mathematics (STEM) will be systematically investigated in a variety of domains using test-beds developed as part of this effort. One motivation behind the proposed work is the availability of haptics simulation technologies ranging in scale from simple force feedback joysticks to advanced 6 degrees of freedom (DOF) special purpose haptics devices, along with the software and hardware means for connectivity among these devices. These technologies will allow people to capture, store and communicate various force sensations from individual to individual, and may one day allow people to reach out and touch people, and share physical skills just as one would share videos and audio text messages today.The proposed work will address four objectives: First, it will develop a framework for capturing attributes of force and motion applied by a teacher during skilled manual tasks. Second, it will develop a methodology to transmit and/or synthetically simulate the patterns of force and motion. Third, and most significantly, the concept of Sympathetic Haptics itself will allow a student to actively track with special assistance, motions made by a skilled teacher, and hence experience the forces and haptics effects involved in executing the skilled task. Fourth, this system will not only allow the student to experience what the teacher recorded, but also allow the student to repeat the process over and over again as a learning tool.