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On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators

机译：用形状记忆合金致动器设计皮肤力反馈微型触觉环的设计

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摘要

This paper proposes a miniature haptic ring that can display touch/pressure and shearing force to the user's fingerpad. For practical use and wider application of the device, it is developed with the aim of achieving high wearability and mobility/portability as well as cutaneous force feedback functionality. A main body of the device is designed as a ring-shaped lightweight structure with a simple driving mechanism, and thin shape memory alloy (SMA) wires having high energy density are applied as actuating elements. Also, based on a band-type wireless control unit including a wireless data communication module, the whole device could be realized as a wearable mobile haptic device system. These features enable the device to take diverse advantages on functional performances and to provide users with significant usability. In this work, the proposed miniature haptic ring is systematically designed, and its working performances are experimentally evaluated with a fabricated functional prototype. The experimental results obviously demonstrate that the proposed device exhibits higher force-toweight ratio than conventional finger-wearable haptic devices for cutaneous force feedback. Also, it is investigated that operational performances of the device are strongly influenced by electro-thermomechanical behaviors of the SMA actuator. In addition to the experiments for performance evaluation, we conduct a preliminary user test to assess practical feasibility and usability based on user's qualitative feedback.
机译：本文提出了一种微型触觉环，可以向用户的指鞋显示触摸/压力和剪切力。为了实际使用和更广泛的设备应用，它是通过实现高耐磨性和移动/可移植性以及皮肤强制反馈功能而开发的。该装置的主体被设计为具有简单驱动机构的环形轻质结构，并且具有高能量密度的薄形状记忆合金（SMA）导线被施加为致动元件。此外，基于包括无线数据通信模块的频带型无线控制单元，整个设备可以实现为可穿戴移动触觉设备系统。这些功能使设备能够对功能性能进行多种优势，并为用户提供具有显着的可用性。在这项工作中，系统设计了拟议的微型触觉环，并通过制造的功能原型进行了实验评估其工作性能。实验结果显然表明，所提出的装置具有比传统的手指可穿戴触觉装置更高的力 - 用于皮肤反馈。此外，研究了该装置的操作性能受到SMA执行器的电热机械行为的强烈影响。除了进行性能评估的实验外，我们还进行初步的用户测试，以评估基于用户的定性反馈的实用可行性和可用性。

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