• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International Symposium on Medical Measurements and Applications >Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications
【24h】

Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications

机译：带有手势控制的神经形态触觉手套和平台，用于医疗远程呈现应用中的触觉感觉反馈

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values.
机译：本文介绍了用于嵌入软矩阵中的僵硬夹杂物的定位的触觉远程级系统。该系统将基于神经形态的尖峰的触觉反馈，编码对象刚度，对人指尖提供。为了评估所发育系统，在该研究中，制造了一种定制的硅模体，其由4种不同的聚合物制成的12个夹杂物（每个材料为3份复制品）。这种夹杂物，具有相同形状的所有夹杂物被封装在随机位置的更柔软的硅基矩阵中。两个主块组成了实验设置。第一子设置包括用于跟踪人手运动和压电盘的光学传感器，该光电盘插入索引指尖水平的手套中，以提供触觉反馈。第二个子设置是一个三轴笛卡尔电动传感平台，其通过与称重传感器机械连接的球形压痕探索硅模体。平台的运动基于用户的获取手势。在主动滑动期间施加的正常力通过神经元模型转化为尖峰的时间图案，并通过振动手套递送到指尖。通过在实验试验期间产生的上述模式的调节来检测夹杂物。结果表明，所提出的系统允许识别封装的夹杂物和周围矩阵之间的刚度变化。正如预期的那样，更常见的夹杂物比更柔软的夹杂物更常见，在拟议的任务中识别了大约70 \％的更强硬夹杂物。未来的作品将解决对较大的材料的调查，以评估刚度值的更精细分布。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号