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Experimental evaluation of a miniature MR device for a wide range of human perceivable haptic sensations

机译：微型MR装置对广泛的人感知触觉感知的实验评价

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摘要

Humans can experience a realistic and vivid haptic sensations by the sense of touch. In order to have a fully immersive haptic experience, both kinaesthetic and vibrotactile information must be presented to human users. Currently, little haptic research has been performed on small haptic actuators that can covey both vibrotactile feedback based on the frequency of vibrations up to the human-perceivable limit and multiple levels of kinaesthetic feedback rapidly. Therefore, this study intends to design a miniature haptic device based on MR fluid and experimentally evaluate its ability to convey vibrotactile feedback up to 300 Hz along with kinaesthetic feedback. After constructing a prototype device, a series of testing was performed to evaluate its performance of the prototype using an experimental setup, consisting of a precision dynamic mechanical analyzer and an accelerometer. The kinaesthetic testing results show that the prototype device can provide the force rate up to 89% at 5 V (360 mA), which can be discretized into multiple levels of 'just noticeable difference' force rate, indicating that the device can convey a wide range of kinaesthetic sensations. To evaluate the high frequency vibrotactile feedback performance of the device, its acceleration responses were measured and processed using the FFT analysis. The results indicate that the device can convey high frequency vibrotactile sensations up to 300 Hz with the sufficiently large intensity of accelerations that human can feel.
机译：人类可以通过触感感到逼真和生动的触觉感觉。为了具有完全沉浸的触觉体验，必须向人类用户提供Kinaesthetic和vibrotactive信息。目前，对小触觉执行器进行了很少的触觉研究，可以基于振动的频率达到速度达到人类可感知的极限和迅速多水平的Kinaesthetic反馈的振动反馈。因此，本研究打算根据MR流体设计一种微型触觉装置，并通过实验评估其高达300 Hz的振动反馈以及Kinaesthetic反馈的能力。在构造原型设备之后，执行一系列测试以使用实验设置来评估原型的性能，包括精密动态机械分析仪和加速度计。 KinaEesthethetic测试结果表明，原型装置可以在5 V（360 mA）下提供高达89％的力速率，这可以被离散地分为多个水平的'只是明显的差异'力率，表明该装置可以传达宽Kinaesthetic Sensations的范围。为了评估器件的高频振动反馈性能，使用FFT分析测量和处理其加速响应。结果表明，该装置可以以300赫兹传达高频振动触觉感觉，具有人类可以感觉的足够大的加速度强度。

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