开源单轴触觉操纵杆，提升远程操控的触感反馈体验
HATPIC: An Open-Source Single Axis Haptic Joystick for Robotic Development
- 设计开源单轴触觉操纵杆，降低开发门槛
- 支持与常见机器人工具集成，提升操作反馈质量
- 适合机器人研发人员快速搭建触觉交互系统
人类通过触觉处理的信息远多于视觉。因此，触觉在远程操控中的应用前景广阔，尤其在极端环境下能提供关键的感知补充。然而，现有触觉设备或难以获取，或力反馈质量低。本文提出一种单轴、开源的触觉操纵杆设计，旨在解决上述问题。首先介绍该设备的结构，并展示其与常见机器人工具的集成方式。该方案有望加速触觉技术在各类机器人应用中的开发与部署，显著增强操作员的反馈感知与控制能力。
原文摘要 · Abstract (English)
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel crucial for interpretation in extreme conditions. However, current haptic device setups are either difficult to access or provide low-quality force feedback rendering. This work proposes the design of a single-axis, open-source setup for telemanipulation development, aimed at addressing these issues. We first introduce the haptic device and demonstrate its integration with common robotic tools. The proposed joystick has the potential to accelerate the development and deployment of haptic technology in a wide range of robotics applications, enhancing operator feedback and control.
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