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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Handheld Haptic Robot for Large-Format Touchscreens
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A Handheld Haptic Robot for Large-Format Touchscreens

机译：用于大型触摸屏的手持式触觉机器人

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摘要

This paper presents a handheld surface robot built around a single steerable wheel that can direct the user's motion or modulate the interaction forces with the touchscreen. Steering control is used to render spatial constraints on a touchscreen surface in coordination with the displayed visual objects. A force sensor using flexures and Hall effect sensors is integrated into the device design for economic two-dimensional force sensing. The flexure array and device frame are built a single part out of nylon using the selective laser sintering additive manufacturing process. The position and orientation of the device are supplied by touchscreen eliminating the need for a grounded external frame and resulting in a more compact form. Potential applications include upper limb stroke therapy, gaming, and touchscreen accessibility for disabled individuals. The device exerts up to 10.6 ± 1.0 N of friction force and has a 90° peak-to-peak sine tracking bandwidth of 7.0 Hz. The embedded force sensor has a 6.5% full-scale force magnitude error with an average 4.0° load angle error. The device tracks force-sensitive compliant haptic boundaries with a stiffness range between 0.1 N/mm and 2.0 N/mm. Also demonstrated is stiffness tracking of a 0.175 N/mm boundary (near maximum stable deflections) with mean error 9.4% of the maximum desired deflection.
机译：本文介绍了一个围绕单个可转向轮构建的手持式表面机器人，该转向轮可以指导用户的运动或调节与触摸屏的相互作用力。操纵控制用于与显示的视觉对象配合在触摸屏表面上呈现空间约束。使用挠曲和霍尔效应传感器的力传感器已集成到设备设计中，以实现经济的二维力感测。使用选择性激光烧结添加剂制造工艺，挠性阵列和设备框架由尼龙制成单个部件。触摸屏提供了设备的位置和方向，从而无需接地的外部框架，从而实现了更紧凑的形式。潜在的应用包括上肢中风疗法，游戏和残疾人的触摸屏可及性。该设备可施加高达10.6±1.0 N的摩擦力，并具有7.0 Hz的90°峰峰正弦跟踪带宽。嵌入式力传感器的满量程力大小误差为6.5％，平均负载角误差为4.0°。该设备跟踪力度敏感的触觉边界，其刚度范围在0.1 N / mm和2.0 N / mm之间。还证明了在0.175 N / mm边界（最大稳定挠度附近）的刚度跟踪，其平均误差为最大期望挠度的9.4％。

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