通过感知强度优化振动降噪，提升远程机器人触觉反馈质量
Vibrotactile Feedback for a Remote Operated Robot with Noise Subtraction Based on Perceived Intensity
- 基于人类对振动的感知强度设计降噪算法
- 有效去除机器人自身运动产生的干扰噪声
- 适合需要精准触觉反馈的远程操作场景
远程操作机器人需求日益增长。本文提出一种新方法，用于减少机器人自身运动产生的振动噪声，这种噪声会干扰触觉反馈质量。该方法聚焦于感知强度——即人类对振动的实际感受程度——构建符合人感知特性的噪声过滤机制。系统能有效剔除自噪声，同时保留关键触觉信号，确保操作者获得更准确、可靠的触觉反馈。该方法为保障远程操作系统的高质量触觉反馈提供了优化解决方案。
原文摘要 · Abstract (English)
There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach focuses on perceived intensity, the amount of how humans experience vibration, to create a noise filter that aligns with human perceptual characteristics. This system effectively subtracts ego-noise while preserving the essential tactile signals, ensuring more accurate and reliable haptic feedback for operators. This method offers a refined solution to the challenge of maintaining high-quality tactile feedback in teleoperated systems.
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