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首页> 外文期刊>Frontiers in Robotics and AI >Wearable Vibrotactile Haptic Device for Stiffness Discrimination during Virtual Interactions
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Wearable Vibrotactile Haptic Device for Stiffness Discrimination during Virtual Interactions

机译：可穿戴式触觉触觉设备，用于在虚拟交互过程中区分刚度

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In this paper, we discuss the development of cost effective, wireless and wearable vibrotactile haptic device for stiffness perception during an interaction with virtual objects. Our experimental setup consists of haptic device with five vibrotactile actuators, virtual reality environment tailored in Unity 3D integrating the Oculus Rift Head Mounted Display(HMD) and the Leap Motion controller.The virtual environment is able to capture touch inputs from users. Interaction forces are then rendered at 500Hz and fed back to the wearable setup stimulating fingertips with ERM vibrotactile actuators. Amplitude and frequency of vibrations are modulated proportionally to the interaction force to simulate the stiffness of a virtual object. A quantitative and qualitative study is done to compare the discrimination of stiffness on virtual linear spring in three sensory modalities: visual only feedback, tactile only feedback and their combination. A common psychophysics method called the Two Alternative Forced Choice (2AFC) approach is used for quantitative analysis using Just Noticeable Difference(JND) and Weber Fractions(WF). According to the psychometric experiment result, average Weber fraction values of 0.39 for visual only feedback was improved to 0.25 by adding the tactile feedback.
机译：在本文中，我们讨论了在与虚拟对象交互过程中用于感知刚度的具有成本效益的无线可穿戴式触觉触觉设备的开发。我们的实验装置包括具有五个触觉致动器的触觉设备，结合了Oculus Rift头戴式显示器（HMD）和Leap Motion控制器的Unity 3D量身定制的虚拟现实环境，该虚拟环境能够捕获用户的触摸输入。然后以500Hz的频率产生交互作用力，并通过ERM触觉致动器将其反馈到可穿戴设备，以刺激指尖。振动的振幅和频率与交互作用力成比例地进行调制，以模拟虚拟对象的刚度。进行了定量和定性研究，以比较三种感觉方式对虚拟线性弹簧的刚度辨别：仅视觉反馈，仅触觉反馈及其组合。常用的心理物理学方法称为“两个替代的强迫选择”（2AFC）方法，用于使用“正当注意差异”（JND）和韦伯分数（WF）进行定量分析。根据心理测试结果，通过添加触觉反馈，仅视觉反馈的平均Weber分数为0.39，提高到0.25。

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