用软气动装置实现手指三维力觉反馈，提升远程操作体验。
Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger
- 采用恒曲率模型控制软气动装置，实现紧凑高功率的力觉反馈。
- 横向位移±3.18mm、力±1.00N，纵向位移±4.89mm、力±6.01N，带宽3Hz。
- 适用于中速软环境中的远程操作，适合人机交互与虚拟现实场景。
感官替代是缓解时延下远程操作者稳定触觉反馈的有效方法。手指高度灵活，可感知多方向运动与力，是基于动觉反馈进行感官替代的理想位置。然而，现有手指动觉设备或仅支持单自由度反馈，或体积庞大，或输出力不足。软气动执行器具有高功率密度，适合在紧凑结构中实现高输出力的动觉反馈。本文提出一种基于恒曲率运动学模型控制的软气动手持式动觉反馈装置，用于食指。其横向位移范围为±3.18mm，力范围为±1.00N；纵向位移范围为±4.89mm，力范围为±6.01N，体现其高功率密度与紧凑性。运动学模型开环平均径向位置与力精度分别为0.72mm和0.34N。该装置3Hz带宽，适用于软环境中中等速度的触觉交互。我们在虚拟远程操作场景中验证了该装置在食指上实现三维动觉力反馈的能力。
原文摘要 · Abstract (English)
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario.
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