用手部外骨骼实现远程操作时的触觉刚度感知，提升操作精度。
Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
- 通过触觉传感器反馈接触力与挤压位移，实现刚度感知。
- 仅靠触觉可区分不同刚度物体，准确率显著高于视觉盲操作。
- 加入位移反馈能更好分辨相近刚度物体，适合精密遥操作场景。
遥控操作在医疗和恶劣环境作业中至关重要。尽管视觉反馈有价值，但触觉反馈对感知难以通过视觉察觉的物体属性（如刚度）尤为关键。本文首次通过实验表明，在使用灵巧机械手进行真实世界遥操作时，通过指尖触觉传感器生成的触觉反馈，操作者能够仅凭触觉感知远程物体的刚度。参与者需遥控机械手挤压软性物体，采用两种触觉反馈方式：一种仅基于测量接触力，另一种还包含主从设备间的挤压位移。结果表明，操作者仅依赖触觉反馈即可有效区分不同刚度物体，且包含位移反馈的方式有助于更精确地区分刚度相近的物体。
原文摘要 · Abstract (English)
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable information to the human operator, haptic feedback is essential for accessing specific object properties that are difficult to be perceived by vision, such as stiffness. For the first time, we present a participant study demonstrating that operators can perceive the stiffness of remote objects during real-world telemanipulation with a dexterous robotic hand, when haptic feedback is generated from tactile sensing fingertips. Participants were tasked with squeezing soft objects by teleoperating a robotic hand, using two methods of haptic feedback: one based solely on the measured contact force, while the second also includes the squeezing displacement between the leader and follower devices. Our results demonstrate that operators are indeed capable of discriminating objects of different stiffness, relying on haptic feedback alone and without any visual feedback. Additionally, our findings suggest that the displacement feedback component may enhance discrimination with objects of similar stiffness.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。