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首页> 外文学位 >Toward wearable pneumatic haptic devices for microscale force feedback applications.
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Toward wearable pneumatic haptic devices for microscale force feedback applications.

机译：面向可穿戴气动触觉设备的微型力反馈应用。

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摘要

The sense of touch, or the haptic sensory system, is the largest sensory system humans have, and it is used in numerous ways to allow humans to interact with their environment and perform tasks. The sense of touch allows humans to manipulate objects effortlessly, feel the textures of various items, understand where their bodies are in relation to the world, and obtain a better understanding of the objects with which they interact. As robotic systems have become more intelligent and capable in recent decades, they have started replacing or aiding humans in the performance of a variety of tasks in different fields. The addition of haptic feedback to systems and devices allows a human user to gain a more complete understanding of the remote environment they are working in. Several applications, such as robotic minimally invasive surgery (MIS) and virtual reality gaming, have drawn interest for integrating haptic or tactile feedback onto remote operating tools. While both research studies and commercial products have clearly demonstrated the benefits of adding haptic feedback, many open questions remain for reaching the full potential of haptic feedback. This research focuses on investigating how light-weight, low-cost pneumatic haptic devices can be deployed on human hands, possibly in multiple locations, to enhance user comprehension of force feedback. The aim is to enhance the understanding of microscale pneumatic devices in their potential and limitations as a wearable haptic feedback system.;This work investigates the design, construction, and testing of a binary pneumatic tactile display. Pneumatically actuated devices are chosen because they are light-weight, low-cost, and less-invasive in nature. Arrays of pneumatic balloons of different sizes were designed and constructed by taking into consideration the ease of the fabrication process and the effectiveness of feedback when placed on human hands. Human perception experiments were performed to test the pneumatic balloon arrays to determine the potential of providing binary haptic feedback. The results showed differences in sensitivity due to the location where the balloon array is placed as well as the size of the device. In addition, it appears that the use of multiple balloon arrays placed in different parts of a human hand can improve the overall effectiveness of the feedback, even if they are not placed on the most sensitive areas. Lastly, the experiments demonstrated the potential of using multiple pneumatic balloon arrays to produce identifiable binary patterns.
机译：触觉或触觉感觉系统是人类拥有的最大的感觉系统，它以多种方式用于允许人类与环境互动并执行任务。触摸感使人类能够轻松地操纵物体，感受各种物品的纹理，了解其身体与世界的关系，并更好地了解与之交互的物体。近几十年来，随着机器人系统变得更加智能和功能强大，它们已开始取代或帮助人类执行不同领域的各种任务。向系统和设备添加触觉反馈，使人类用户可以更全面地了解他们所处的远程环境。机器人微创手术（MIS）和虚拟现实游戏等多种应用吸引了人们对集成的兴趣。远程操作工具上的触觉或触觉反馈。尽管研究和商业产品都清楚地表明了增加触觉反馈的好处，但仍然存在许多悬而未决的问题，无法充分发挥触觉反馈的潜力。这项研究的重点是研究如何轻巧，低成本地将气动触觉设备部署在人的手上，可能在多个位置，以增强用户对力反馈的理解。目的是增强对微型气动装置作为可穿戴触觉反馈系统的潜力和局限性的理解。这项工作研究了二进制气动触觉显示器的设计，构造和测试。选择气动装置是因为它们的重量轻，成本低，侵入性小。考虑到制造过程的简便性以及当放在人手上时反馈的有效性，设计和构造了不同尺寸的气球阵列。进行了人类感知实验以测试气囊阵列，以确定提供二元触觉反馈的潜力。结果显示，由于放置球囊阵列的位置以及设备的尺寸，灵敏度存在差异。此外，似乎可以使用放置在人手不同部位的多个气球阵列来改善反馈的整体效果，即使它们未放置在最敏感的区域也是如此。最后，实验证明了使用多个气动气球阵列产生可识别的二进制图案的潜力。

著录项

  • 作者

    Frazier, Athena D.;

  • 作者单位

    Rochester Institute of Technology.;

  • 授予单位 Rochester Institute of Technology.;
  • 学科 Engineering Biomedical.;Engineering Robotics.;Biology Physiology.
  • 学位 M.S.
  • 年度 2010
  • 页码 89 p.
  • 总页数 89
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 公共建筑;
  • 关键词

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