Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2024-02-13 DOI:10.1109/TOH.2024.3365669

Kyle T. Yoshida;Zane A. Zook;Hojung Choi;Ming Luo;Marcia K. O'Malley;Allison M. Okamura

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引用次数: 0

Abstract

Wearable haptic devices on the forearm can relay information from virtual agents, robots, and other humans while leaving the hands free. We introduce and test a new wearable haptic device that uses soft actuators to provide normal and shear force to the skin of the forearm. A rigid housing and gear motor are used to control the direction of the shear force. A 6-axis force/torque sensor, distance sensor, and pressure sensors are integrated to quantify how the soft tactor interacts with the skin. When worn by participants, the device delivered consistent shear forces of up to 0.64 N and normal forces of up to 0.56 N over distances as large as 14.3 mm. To understand cue saliency, we conducted a user study asking participants to identify linear shear directional cues in a 4-direction task and an 8-direction task with different cue speeds, travel distances, and contact patterns. Participants identified cues with longer travel distances best, with an 85.1% accuracy in the 4-direction task, and a 43.5% accuracy in the 8-direction task. Participants had a directional bias, with a preferential response in the axis towards and away from the wrist bone.

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设计和评估用于前臂方向剪切力提示的 3-DoF 触觉设备

前臂上的可穿戴触觉装置可以传递来自虚拟代理、机器人和其他人的信息，同时解放双手。我们介绍并测试了一种新型可穿戴触觉装置，它使用软致动器为前臂皮肤提供法向力和剪切力。刚性外壳和齿轮电机用于控制剪切力的方向。该装置集成了六轴力/扭矩传感器、距离传感器和压力传感器，用于量化软触动器与皮肤的相互作用。参与者佩戴该装置时，可在 14.3 毫米的距离内产生一致的剪切力（最大 0.64 牛顿）和法向力（最大 0.56 牛顿）。为了了解线索的显著性，我们进行了一项用户研究，要求参与者在 4 个方向任务和 8 个方向任务中识别线性剪切方向线索，线索的速度、移动距离和接触模式各不相同。在 4 个方向的任务中，参与者识别移动距离较长线索的准确率为 85.1%，而在 8 个方向的任务中，准确率为 43.5%。参与者有方向偏差，对腕骨方向和远离腕骨方向的轴有优先反应。

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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.