CAREER: HCC: Haptic Guidance Systems

PI在这个项目中的目标是通过探索和比较两种新的方法来为路径跟踪和精细运动任务提供触觉指导，从而推进触觉研究的最新进展，迄今为止，触觉研究主要集中在基于点的力反馈设备的使用上。这两种方法是：(1)使用触觉剪切引导，通过触控笔的握持提供方向信息；(2)用主动手柄增强传统的触控笔触觉界面。在第一种方法中（通过触觉剪切反馈提供方向信息），PI将使用一个专门的触控笔界面，在其手柄中嵌入剪切装置。这些设备将把剪切反馈传输到用户的拇指和食指。第二种方法（使用主动扶手）执行路径跟踪和精细的指尖动作，其灵感来自于艺术家在详细绘画过程中使用棍状扶手来支持精细的手部动作的方式。主动扶手将被探索作为传统力反馈和其他触觉引导技术（如虚拟装置）的补充或替代。通过建模和人体测试，PI将研究两种支持用户手腕和/或前臂的模式，同时抓住传统的触控笔触觉界面。一种模式是把手将力量或运动传递给用户的手腕/前臂，提供纠正任务干预。第二种控制模式将推断用户的最佳把手位置，并根据测量的反作用力先发制人地移动自己，以提供持续的支持。PI将评估和比较触觉剪切引导和主动手柄对任务性能的影响（例如，准确性和执行时间），与现有方法相比。该研究还将产生前臂和手之间被动动力学的理论特征，这将形成控制主动扶手系统的基础。建立了多种操作模式下的把手控制算法。更广泛的影响：这项研究将大大提高模拟和各种虚拟环境的现实性。项目成果将适用于广泛的领域，包括神经和远程手术、手部康复、盲人引导系统以及汽车GPS导航系统等消费者应用。想象一下，如果你不再需要看GPS导航地图或听它的指示，而是从方向盘上得到一个触觉提示，告诉你要转弯了；这可以显著减少驾驶员的认知负荷，从而提高驾驶员的安全性。PI的一个主要目标是吸引妇女和代表性不足的学生，特别是印第安人，进入科学和工程领域。为此，他将根据自己的研究兴趣开发触觉学习模块，这些模块可以与针对初中和高中学生的大学范围内的推广活动相结合，也可以被犹他大学机器人小组（PI隶属于该小组）使用，作为其与蒙大拿州立大学（在其本科课程中有大量美国原住民代表）建立关系的一部分。PI还将开发触觉创新课程，如触觉概念清单和动手演示。

The PI's goal in this project is to advance the state-of-the-art of haptics research, which has to date centered primarily on the use of point-based force-feedback devices, by exploring and comparing two novel approaches to providing haptic guidance for path following and fine motor tasks. These two approaches are: (1) using tactile shear guidance to provide directional information through the grip of a stylus; and (2) augmenting a traditional stylus-based haptic interface with an active handrest. In the first approach (providing directional information through tactile shear feedback), the PI will investigate using a specialized stylus interface with shear devices embedded in its grip. These devices will transmit shear feedback to the user's thumb and index finger. The second approach (using an active handrest) for executing path following and fine fingertip motions was inspired by the way artists use a baton-like handrest to support fine hand motions during detailed painting. The active handrest will be explored as a supplement or substitute for traditional force feedback and other haptic guidance techniques, such as virtual fixtures. Through modeling and human subjects testing, the PI will investigate two modes of supporting the user's wrist and/or forearm while gripping a traditional stylus haptic interface. One mode will have the handrest impart forces or motions to the user's wrist/forearm, providing corrective task intervention. The second control mode will infer the user's optimal handrest position and preemptively move itself to provide continued support based on measured reaction forces. The PI will evaluate and compare the impact tactile shear guidance and the active handrest have on task performance (e.g., accuracy and execution time), versus established approaches. The research will also produce theoretical characterizations of the passive dynamics between the forearm and hand that will form the foundation for controlling active handrest systems. Algorithms for controlling the handrest under multiple modes of operation will be established.Broader Impact: This research will lead to dramatic improvements in the realism of simulations and virtual environments of all kinds. Project outcomes will be applicable across a broad cross-section of domains including neuro- and tele-surgery, hand rehabilitation, guidance systems for the blind, and consumer applications like automotive GPS navigation systems. Imagine if, rather than having to look at your GPS navigation map or listen to its instructions, you received a shearing tactile cue from the steering wheel that told you a turn was coming up; this could significantly reduce driver cognitive load and thereby lead to improved driver safety. A major objective of the PI is to attract women and underrepresented students, especially Native Americans, into the fields of science and engineering. To this end, he will develop haptic learning modules based on his research interests, which can be presented in conjunction with established college-wide outreach activities aimed at junior high and high school students, and that can also be used by the University of Utah Robotics Group (with which the PI is affiliated) as part of its established relationship with Montana State University (which has a large Native American representation in its undergraduate programs). The PI will also develop a course in haptics with innovations such as a Haptics Concept Inventory and hands-on demos.