With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual as...With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.展开更多
Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targe...Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targets. In this paper, we focus on the foot haptic device with magnetic flied sensitive elastomer （MSE）. We developed a haptic unit used as a magnetic field generator for MSE and contact point of foot haptic device. MSE samples mixed with 80 wt% carbonyl iron particles were prepared and evaluated with the developed magnet. Experimental results show that the mechanical property of the haptic unit can be modeled with the adjustable friction element. This property has a good advantage for the haptic unit.展开更多
This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into considerati...This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cable as transmission component and mass balance to eliminate the gravity effect. The dynamics of haptic interface including actuating device is studied. In order to provide operator with fidelity kinesthetic information, a force controller using self-learning fuzzy logic control is designed. The simulation results verify the effectiveness of the control method.展开更多
Human skin exhibits extreme sensitivity to spatiotemporal contact events,especially important for dynamic interactions in human-machine interfaces.However,replicating non-invasive haptic feedback for dynamic interacti...Human skin exhibits extreme sensitivity to spatiotemporal contact events,especially important for dynamic interactions in human-machine interfaces.However,replicating non-invasive haptic feedback for dynamic interaction with a spatiotemporal resolution that matches the human somatosensory system remains challenging because the spatiotemporal design criteria of the haptic interface and the perception characteristic of human beings are not clearly understood.Here,we report a thin electrostatic-enhanced vibro-haptic interface constructed with piezoelectric actuator pixels driven by relativity low voltage,capable of being spatiotemporally programmed for wearable and noninvasive dynamic haptic interaction.Systematic psychophysical tests systematically reveal the relationship between the spatiotemporal parameters(duration,interval,delay,and two-point distance)and human perception characteristics(intensity,continuity,and pixel asynchronous activation perceptibility).Accordingly,wearable haptic music is designed to reproduce the smooth rhythmic beats on a finger(distinguishing accuracy of 95%).Moreover,we demonstrate the reproduction of virtual dynamic interactions,such as recognizing moving directions,textures,and action modes.This work provides clear criteria for designing vibro-haptic interfaces with high spatiotemporal resolution for both physical and virtual applications.展开更多
Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limit...Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.展开更多
This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinae...This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.展开更多
The utilization of high-resolution haptic feedback devices in a virtual reality(VR)environment can increase the precision of controlling remotely operated vehicles and reduce training costs for subsea construction ope...The utilization of high-resolution haptic feedback devices in a virtual reality(VR)environment can increase the precision of controlling remotely operated vehicles and reduce training costs for subsea construction operations.This paper introduces a novel flexible-driven wearable pin-array device.The spatial separation of the control box and actuator allows the device to attain natural and seamless interactive movements while delivering high-density haptic feedback in VR.The pin array consists of 25 haptic pin modules that run on a linear servo motor via a flexible shaft for force transmission.The analysis and calculation of the flexible transmission resistance effect using the haptic pin module's shaft length and bending radius were conducted.A series of experiments was performed to gather comprehensive data on the pin module's output,transmission resistance and error,and response delay to optimize its structural design and transmission strategy.The device's effectiveness in rendering shape and coarse texture was evaluated via two user studies.The results affirm that the introduced device enables users to precisely discern seven shapes and four distinct coarse surfaces.展开更多
The sense of telepresence is known to be essential in teleoperation environments, where the operator is physically separated from the vehicle. Usually only a visual feedback is provided, but it has been shown that by ...The sense of telepresence is known to be essential in teleoperation environments, where the operator is physically separated from the vehicle. Usually only a visual feedback is provided, but it has been shown that by extending the visual interface with haptic feedback, that is complementing the visual information through the sense of touch, the teleoperator has a better perception of information from the remote environment and its constraints. This paper focuses on a novel concept of haptic cueing for an airborne obstacle avoidance task; the novel cueing algorithm was designed to appear ＂natural＂ to the operator, and to improve the human-machine interface without directly acting on the actual aircraft commands. Two different haptic aiding concepts for obstacle avoidance support are presented： an existing and widely used system, belonging to what we called the Direct Haptic Aid （DItA） approach class, and a novel one based on the Indirect Haptic Aid （IHA） approach class. Tests with human operators show that a net improvement in terms of performance （i.e., the number of collisions） is provided by employing the 1HA haptic cue as compared to both the DHA haptic cue and/or the visual cues only. The results clearly show that the IHA philosophy is a valid alternative to the other commonly used approaches, which fall in the DHA category.展开更多
This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
In robotic bimanual teleoperation,multimodal sensory feedback plays a crucial role,providing operators with a more immersive operating experience,reducing cognitive burden and improving operating efficiency.In this st...In robotic bimanual teleoperation,multimodal sensory feedback plays a crucial role,providing operators with a more immersive operating experience,reducing cognitive burden and improving operating efficiency.In this study,we develop an immersive bilateral isomorphic bimanual telerobotic system,which comprises dual arms and dual dexterous hands,with visual and haptic force feedback.To assess the performance of this system,we carried out a series of experiments and investigated the user's teleoperation experience.The results demonstrate that haptic force feedback enhances physical perception capabilities and complex task operating abilities.In addition,it compensates for visual perception deficiencies and reduces the operator's work burden.Consequently,our proposed system achieves more intuitive,realistic and immersive teleoperation,improves operating efficiency and expands the complexity of tasks that robots can perform through teleoperation.展开更多
In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designe...In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize.Consequently,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios.This letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso.By integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right twisting.The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic perception.The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale.Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions.We observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences.展开更多
基金supported by the National Natural Science Foundation(NNSF)of China(61533016,U1613210)the National High-tech Research and Development Program(863 Program)of China(2015AA042306)the Beijing Natural Science Foundation(4161001)
文摘With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.
文摘Sense of touch is one of the important information from environment for human to live in daily life. Haptic interface is a hot topic in virtual reality but almost all of the devices focus on fingers and hands as targets. In this paper, we focus on the foot haptic device with magnetic flied sensitive elastomer （MSE）. We developed a haptic unit used as a magnetic field generator for MSE and contact point of foot haptic device. MSE samples mixed with 80 wt% carbonyl iron particles were prepared and evaluated with the developed magnet. Experimental results show that the mechanical property of the haptic unit can be modeled with the adjustable friction element. This property has a good advantage for the haptic unit.
文摘This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cable as transmission component and mass balance to eliminate the gravity effect. The dynamics of haptic interface including actuating device is studied. In order to provide operator with fidelity kinesthetic information, a force controller using self-learning fuzzy logic control is designed. The simulation results verify the effectiveness of the control method.
基金supported by the Science and Technology Development Fund,Macao SAR(file No.0117/2024/AMJ)the Dr.Stanley Ho Medical Development Foundation(SHMDF-OIRFS/2025/002)the University of Macao(MYRG-GRG2023-00041-FST-UMDF,MYRG-GRG2024-00121-FST-UMDF,and MYRG-CRG2024-00014-FST-ICI).
文摘Human skin exhibits extreme sensitivity to spatiotemporal contact events,especially important for dynamic interactions in human-machine interfaces.However,replicating non-invasive haptic feedback for dynamic interaction with a spatiotemporal resolution that matches the human somatosensory system remains challenging because the spatiotemporal design criteria of the haptic interface and the perception characteristic of human beings are not clearly understood.Here,we report a thin electrostatic-enhanced vibro-haptic interface constructed with piezoelectric actuator pixels driven by relativity low voltage,capable of being spatiotemporally programmed for wearable and noninvasive dynamic haptic interaction.Systematic psychophysical tests systematically reveal the relationship between the spatiotemporal parameters(duration,interval,delay,and two-point distance)and human perception characteristics(intensity,continuity,and pixel asynchronous activation perceptibility).Accordingly,wearable haptic music is designed to reproduce the smooth rhythmic beats on a finger(distinguishing accuracy of 95%).Moreover,we demonstrate the reproduction of virtual dynamic interactions,such as recognizing moving directions,textures,and action modes.This work provides clear criteria for designing vibro-haptic interfaces with high spatiotemporal resolution for both physical and virtual applications.
基金National Research Foundation of Korea,Grant/Award Numbers:NRF-2022R1A4A3032923,RS-2023-00214236,RS-2024-00352352South Korean Ministry of Trade,Industry and Energy,Grant/Award Number:RS-2022-00154781National Research Council of Science and Technology,Grant/Award Number:CRC230231-000。
文摘Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.
基金CSIR research grant HCP-26 supported the work reported in this article.
文摘This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.
文摘The utilization of high-resolution haptic feedback devices in a virtual reality(VR)environment can increase the precision of controlling remotely operated vehicles and reduce training costs for subsea construction operations.This paper introduces a novel flexible-driven wearable pin-array device.The spatial separation of the control box and actuator allows the device to attain natural and seamless interactive movements while delivering high-density haptic feedback in VR.The pin array consists of 25 haptic pin modules that run on a linear servo motor via a flexible shaft for force transmission.The analysis and calculation of the flexible transmission resistance effect using the haptic pin module's shaft length and bending radius were conducted.A series of experiments was performed to gather comprehensive data on the pin module's output,transmission resistance and error,and response delay to optimize its structural design and transmission strategy.The device's effectiveness in rendering shape and coarse texture was evaluated via two user studies.The results affirm that the introduced device enables users to precisely discern seven shapes and four distinct coarse surfaces.
文摘The sense of telepresence is known to be essential in teleoperation environments, where the operator is physically separated from the vehicle. Usually only a visual feedback is provided, but it has been shown that by extending the visual interface with haptic feedback, that is complementing the visual information through the sense of touch, the teleoperator has a better perception of information from the remote environment and its constraints. This paper focuses on a novel concept of haptic cueing for an airborne obstacle avoidance task; the novel cueing algorithm was designed to appear ＂natural＂ to the operator, and to improve the human-machine interface without directly acting on the actual aircraft commands. Two different haptic aiding concepts for obstacle avoidance support are presented： an existing and widely used system, belonging to what we called the Direct Haptic Aid （DItA） approach class, and a novel one based on the Indirect Haptic Aid （IHA） approach class. Tests with human operators show that a net improvement in terms of performance （i.e., the number of collisions） is provided by employing the 1HA haptic cue as compared to both the DHA haptic cue and/or the visual cues only. The results clearly show that the IHA philosophy is a valid alternative to the other commonly used approaches, which fall in the DHA category.
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
基金supported by the Natural Science Foundation of Top Talent of SZTU(No.GDRC202411).
文摘In robotic bimanual teleoperation,multimodal sensory feedback plays a crucial role,providing operators with a more immersive operating experience,reducing cognitive burden and improving operating efficiency.In this study,we develop an immersive bilateral isomorphic bimanual telerobotic system,which comprises dual arms and dual dexterous hands,with visual and haptic force feedback.To assess the performance of this system,we carried out a series of experiments and investigated the user's teleoperation experience.The results demonstrate that haptic force feedback enhances physical perception capabilities and complex task operating abilities.In addition,it compensates for visual perception deficiencies and reduces the operator's work burden.Consequently,our proposed system achieves more intuitive,realistic and immersive teleoperation,improves operating efficiency and expands the complexity of tasks that robots can perform through teleoperation.
基金supported by JST Fusion Oriented REsearch for disruptive Science and Technology(FOREST)Program(JPMJFR216T)JST Moonshot R&D Program,Japan(JPMJMS2214-08).
文摘In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize.Consequently,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios.This letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso.By integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right twisting.The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic perception.The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale.Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions.We observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences.
