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首页> 外文期刊>IEEE Systems, Man, and Cybernetics Magazine >Toward a Future with Human Hands-Like Haptics: A Universal Framework for Interfacing Existing and Future Multipoint Haptic Devices
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Toward a Future with Human Hands-Like Haptics: A Universal Framework for Interfacing Existing and Future Multipoint Haptic Devices

机译：用人类触觉触觉走向未来：连接现有和未来多点触觉设备的通用框架

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摘要

The two hands and ten fingers that humans are born with are the most dexterous parts of the body and the intrinsic tools that have created our history. To advance human-computer interaction so that we make use of such dexterity, an intuitive interface is highly desirable. Work in this field has led to the era of haptic interaction, yet the advances of haptic hardware and the corresponding software development kits (SDKs) have remained at the singlepoint stage for many years. Compared to the original intention of having multimanual, multifinger haptic devices that support both kinesthetic and tactile feedbacks, single-point kinesthetic haptic devices (SPHs) are a compromise between intuitive interactions and affordability. They are limited for probing-like operations and incapable of performing more sophisticated tasks. This limitation has caused the SPHs to lose much of their value in real-life applications where the dexterity that human hands possess is essential. Another reason for the slow transition from SPHs to multipoint haptic devices (MPHs) is the unique hardware designs and software implementations for MPHs. Unlike SPHs that share a rather similar architecture that can be easily abstracted for common communications, MPHs can be significantly different in their looks and the underlying interaction models, such as a multimanual model for collaborative hand manipulations and a multifinger model for pinch and grasp. The situation becomes even worse when considering incorporating both kinesthetic and tactile feedbacks together for more comprehensive systems, as these two are usually considered separate under existing hardware and SDK implementations, while they actually both belong to haptics and are interdependent on human hands.
机译：人类所生的两只手和十根手指是人体最灵巧的部分，也是创造我们历史的内在工具。为了促进人机交互，以便我们利用这种灵活性，非常需要直观的界面。该领域的工作引领了触觉交互的时代，但是触觉硬件和相应的软件开发套件（SDK）的进步已经停留在单点阶段很多年了。与拥有支持动觉和触觉反馈的多手，多指触觉设备的初衷相比，单点动觉触觉设备（SPH）是直观交互和可负担性之间的折衷。它们仅限于进行类似探测的操作，并且无法执行更复杂的任务。这种局限性导致SPH在实际应用中失去了很多价值，在这些应用中，人手必须具备的灵活性。从SPH缓慢过渡到多点触觉设备（MPH）的另一个原因是MPH的独特硬件设计和软件实现。与SPH共享非常相似的体系结构（可以很容易地抽象以进行公共通信）不同，MPH的外观和底层交互模型（例如用于协作手操作的多手册模型和用于捏和抓握的多手指模型）可能存在显着差异。当考虑将动觉和触觉反馈结合在一起以得到更全面的系统时，情况变得更加糟糕，因为在现有的硬件和SDK实现中，这两种情况通常被认为是分开的，而它们实际上都属于触觉，并且相互依赖。

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