The CUFF, Clenching Upper-Limb Force Feedback Wearable Device: Design, Characterization and Validation.

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

IEEE Transactions on Haptics Pub Date : 2024-03-13 DOI:10.1109/TOH.2024.3375010

Barontini F, Catalano M G, Fani S, Grioli G, Bianchi M, Bicchi A

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Abstract

This paper outlines the design, characterization, and validation of a novel wearable haptic device capable of delivering skin stretch, force feedback, or a combination of both, to the user's arm. In this study, we conducted physical and perceptual characterization with eleven able-bodied participants, and two separate experiments involving discrimination and manipulation tasks, encompassing a total of 32 participants. In both experiments, we used the CUFF device in conjunction with the Pisa/IIT SoftHand. The first experiment was a discrimination task in which participants were required to differentiate between pairs of cylinders based on their dimensions and perceived softness. The second experiment called for participants to control the robotic hand in order to grasp objects. Following the experiments, participants provided a subjective evaluation of the device. The results from the experiments and the participants' feedback underscored the effectiveness of the proposed device. Thanks to its versatility and structural design, the device shows promise as a viable solution for a variety of applications, including teleoperation, guidance, rehabilitation tasks, and prosthetic applications.

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CUFF，紧握上肢力反馈可穿戴设备：设计、特征描述和验证

本文概述了一种新型可穿戴触觉设备的设计、表征和验证，该设备能够向用户手臂提供皮肤拉伸、力反馈或两者的结合。在这项研究中，我们对 11 名身体健全的参与者进行了物理和感知特征描述，并分别进行了涉及辨别和操作任务的两项实验，共有 32 名参与者参加。在这两项实验中，我们将 CUFF 设备与 Pisa/IIT SoftHand 结合使用。第一项实验是一项辨别任务，要求参与者根据圆柱的尺寸和感知的柔软度来区分成对的圆柱。第二个实验要求参与者控制机械手抓取物体。实验结束后，参与者对设备进行了主观评价。实验结果和参与者的反馈都证明了该装置的有效性。由于其多功能性和结构设计，该装置有望成为远程操作、引导、康复任务和假肢应用等各种应用的可行解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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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.