Design and Characterization of a Low-Profile Haptic System for Telemanipulation

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
C. F. Blanco-Diaz;G. Degl'Innocenti;E. Vendrame;M. Uliano;M. Controzzi;L. Cappello
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Abstract

In telemanipulation, supplementary feedback can enhance operator perception and control precision. This study introduces a haptic interface designed to convey temporally discrete tactile cues when remotely controlling a robot. Low-profile piezoelectric sensors were integrated in the thumb of a robotic hand to capture the key events of the manipulation task (i.e., object contact and release). Synchronously with such events, pressure bursts were delivered to the operator’s fingertip through a soft textile thimble equipped with inflatable pockets. Both this haptic display and the sensing module were individually evaluated. The pneumatic system responsible for pockets inflation was characterized in terms of reaction time, proving suitable for the application with a latency of less than 70 ms. Regarding the sensing module, the behavior of the sensorized thumb was first evaluated under static conditions, identifying contact and release events when grasping with the robotic hand differently shaped objects fixed on a table. Then, the accuracy of the touch event detection was assessed while performing a more complex manipulation task (i.e., a pick and lift task). This evaluation was conducted first with the robot programmed to grasp and lift an object following pre-defined trajectories, where we measured accuracy of 100% for contact and 90% for release event detection. Then, we performed a telemanipulation pilot study involving eight participants, where the system proved capable of correctly detecting object contact and release events with an accuracy of 100% and 86.4%. Despite preliminary, these results confirmed proper functioning of the system and paved the way for the exploration of a new haptic feedback policy in telemanipulation based on temporally discrete tactile events.
用于远程操控的低矮型触觉系统的设计与特性分析
在远程操控中,辅助反馈可以增强操作员的感知能力和控制精度。本研究介绍了一种触觉界面,旨在远程控制机器人时传递时间上不连续的触觉提示。低矮型压电传感器集成在机器人手的拇指上,用于捕捉操纵任务的关键事件(即物体接触和释放)。与这些事件同步,压力脉冲通过一个装有充气口袋的柔软纺织顶针传递到操作者的指尖。该触觉显示器和传感模块都经过了单独评估。对负责口袋充气的气动系统的反应时间进行了评估,结果表明该系统的延迟时间小于 70 毫秒,非常适合应用。关于传感模块,首先在静态条件下对传感拇指的行为进行了评估,确定了机器人手抓取固定在桌子上的不同形状物体时的接触和释放事件。然后,在执行更复杂的操作任务(即拾取和抬起任务)时,对触摸事件检测的准确性进行了评估。首先,我们对机器人进行了编程,让它按照预先设定的轨迹抓取和举起一个物体,在此过程中,我们测得接触事件检测的准确率为 100%,释放事件检测的准确率为 90%。然后,我们进行了一项有八名参与者参与的远程操控试验研究,结果证明该系统能够正确检测物体接触和释放事件,准确率分别为 100%和 86.4%。尽管是初步研究,但这些结果证实了系统的正常运行,并为探索基于时间离散触觉事件的远程操控新触觉反馈策略铺平了道路。
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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CiteScore
6.80
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0.00%
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