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首页> 美国卫生研究院文献>Cognitive Neurodynamics >Vibrotactile feedback for conveying object shape information as perceived by artificial sensing of robotic arm
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Vibrotactile feedback for conveying object shape information as perceived by artificial sensing of robotic arm

机译：震动感应反馈用于通过机器人手臂的人工感知来传达物体形状信息

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摘要

This work is a preliminary study towards developing an alternative communication channel for conveying shape information to aid in recognition of items when tactile perception is hindered. Tactile data, acquired during object exploration by sensor fitted robot arm, are processed to recognize four basic geometric shapes. Patterns representing each shape, classified from tactile data, are generated using micro-controller-driven vibration motors which vibrotactually stimulate users to convey the particular shape information. These motors are attached on the subject’s arm and their psychological (verbal) responses are recorded to assess the competence of the system to convey shape information to the user in form of vibrotactile stimulations. Object shapes are classified from tactile data with an average accuracy of 95.21 %. Three successive sessions of shape recognition from vibrotactile pattern depicted learning of the stimulus from subjects’ psychological response which increased from 75 to 95 %. This observation substantiates the learning of vibrotactile stimulation in user over the sessions which in turn increase the system efficacy. The tactile sensing module and vibrotactile pattern generating module are integrated to complete the system whose operation is analysed in real-time. Thus, the work demonstrates a successful implementation of the complete schema of artificial tactile sensing system for object-shape recognition through vibrotactile stimulations.
机译：这项工作是一项初步研究，目的是开发一种替代的沟通渠道，以在阻碍触觉感知时传达形状信息以帮助识别物品。通过安装有传感器的机械臂在对象探索过程中获取的触觉数据经过处理，可以识别出四种基本的几何形状。从触觉数据中分类的代表每种形状的图案是使用微控制器驱动的振动马达生成的，该振动马达从触觉上刺激用户传达特定的形状信息。这些马达附着在受试者的手臂上，并记录他们的心理（言语）反应，以评估系统以触觉刺激形式向用户传达形状信息的能力。根据触觉数据对物体形状进行分类，平均精度为95.21％。从振动触觉模式连续三个阶段的形状识别描述了从受试者的心理反应中学习刺激，该刺激从75％上升到95％。该观察结果证实了用户在使用过程中对触觉刺激的学习，从而提高了系统功效。触觉传感模块和振动触觉模式生成模块集成在一起，构成了一个系统，可以实时分析其操作。因此，该工作证明了通过触觉刺激进行物体形状识别的人工触觉传感系统完整方案的成功实施。

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