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首页> 外文期刊>Journal of Advanced Mechanical Design, Systems, and Manufacturing >Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback
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Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback

机译：具有力反馈的表面触觉远程演示系统中出现的横向柔软感

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This paper reveals that lateral softness sensations can emerge in surface tactile tele-presentation systems with force feedback, if the systems have improper displacement measurements and/or stiness mismatches between a fingertip and tactile sensors. In surface tactile tele-presentation systems, friction force should be reproduced on the master device for high fidelity rendering. If, however, the remote tactile sensor is made of soft material to resemble human fingers, users may experience apparent lateral softness, which does not exist in the remote sample. This work investigates such a phenomenon by using a force-reflecting type master-slave system. The phenomenon is analyzed to provide a simple solution to dissolve the lateral stiness problem. The experiments reveal that the selection of displacement sensing point is important to prevent emergence of the apparent softness, in addition to the matching of sensor stiffness. The paper also discusses how the force reflecting gain affects the phenomenon.
机译：本文揭示了，如果系统在指尖和触觉传感器之间的位移测量值和/或稳定性不匹配，则带有力反馈的表面触觉远程呈现系统中可能会出现横向柔软感。在表面触觉远程演示系统中，应在主设备上复制摩擦力以实现高保真渲染。但是，如果远程触觉传感器由类似于人手指的柔软材料制成，则用户可能会体验到明显的横向柔软度，而远程采样中不存在这种柔软度。这项工作通过使用力反射型主从系统来研究这种现象。分析该现象以提供解决横向稳定性问题的简单方法。实验表明，位移感测点的选择除了对传感器刚度进行匹配之外，对于防止表观柔软性的出现也很重要。本文还讨论了反射增益的力如何影响该现象。

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