Haptiknit:用于可穿戴触觉装置的分布式刚度编织技术

IF 26.1 1区 计算机科学 Q1 ROBOTICS
Cosima du Pasquier, Lavender Tessmer, Ian Scholl, Liana Tilton, Tian Chen, Skylar Tibbits, Allison Okamura
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引用次数: 0

摘要

触觉设备通常依赖于刚性致动器和笨重的电源系统,从而限制了佩戴性。柔软的材料可以提高舒适度,但需要仔细分配刚度,以便将致动器的力量接地,并将负载传递到皮肤。我们介绍的 Haptiknit 是一种嵌入了气动致动器的柔软、可穿戴针织品实现可编程触觉显示的方法。通过在高硬度和低硬度的机器针织层中集成气动致动器,每个致动器可以传输 40 牛顿的力,带宽为 14.5 赫兹。我们用一个可调节的前臂套筒演示了这一概念,该套筒与一个不受约束的气动控制系统相连,可传递各种社会触摸信号。我们在一项由三个部分组成的用户研究中评估了套筒在辨别性和情感性触摸方面的性能,并将我们的结果与之前的电磁驱动方法进行了比较。与振动触觉刺激相比,Haptiknit 改善了触觉定位,而且与不产生分布式硬度的气动纺织品相比,Haptiknit 以较少的致动器传达了社交触觉线索。与声控线圈阵列相比,Haptiknit 套筒能识别类似的社交触摸手势,但外形更便携、更舒适。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Haptiknit: Distributed stiffness knitting for wearable haptics
Haptic devices typically rely on rigid actuators and bulky power supply systems, limiting wearability. Soft materials improve comfort, but careful distribution of stiffness is required to ground actuation forces and enable load transfer to the skin. We present Haptiknit, an approach in which soft, wearable, knit textiles with embedded pneumatic actuators enable programmable haptic display. By integrating pneumatic actuators within high- and low-stiffness machine-knit layers, each actuator can transmit 40 newtons in force with a bandwidth of 14.5 hertz. We demonstrate the concept with an adjustable sleeve for the forearm coupled to an untethered pneumatic control system that conveys a diverse array of social touch signals. We assessed the sleeve’s performance for discriminative and affective touch in a three-part user study and compared our results with those of prior electromagnetically actuated approaches. Haptiknit improves touch localization compared with vibrotactile stimulation and communicates social touch cues with fewer actuators than pneumatic textiles that do not invoke distributed stiffness. The Haptiknit sleeve resulted in similar recognition of social touch gestures compared to a voice-coil array but represented a more portable and comfortable form factor.
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来源期刊
Science Robotics
Science Robotics Mathematics-Control and Optimization
CiteScore
30.60
自引率
2.80%
发文量
83
期刊介绍: Science Robotics publishes original, peer-reviewed, science- or engineering-based research articles that advance the field of robotics. The journal also features editor-commissioned Reviews. An international team of academic editors holds Science Robotics articles to the same high-quality standard that is the hallmark of the Science family of journals. Sub-topics include: actuators, advanced materials, artificial Intelligence, autonomous vehicles, bio-inspired design, exoskeletons, fabrication, field robotics, human-robot interaction, humanoids, industrial robotics, kinematics, machine learning, material science, medical technology, motion planning and control, micro- and nano-robotics, multi-robot control, sensors, service robotics, social and ethical issues, soft robotics, and space, planetary and undersea exploration.
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