轻量化柔性温感设备，让虚拟操作更真实。
A Soft Fabric-Based Thermal Haptic Device for VR and Teleoperation
- 用纺织气动腔嵌入加热元件，实现软性温压反馈。
- 升温快至3℃/秒，手指识别准确率达0.98，操作成功率提至96.4%。
- 适合虚拟现实与远程操控，提升人机交互真实感。
本文提出一种新型织物基热触觉接口，用于虚拟现实与远程操控。通过将加热元件嵌入纺织气动腔，结合气动驱动与导电织物，实现仅2~4g每指单元的超轻设计。系统可向指腹提供可调压力与热刺激，具备快速热调节能力（最高升温速率3℃/s），支持动态热反馈。气动部分在50kPa下产生最大8.93N力，优化指垫-执行器间隙后冷却效率提升且力损小。用户实验显示，三类温度识别准确率达0.98；在虚拟抓取任务中，启用触觉反馈后成功率从88.5%提升至96.4%（p=0.029），力控精度显著提高（p=0.013），验证了该集成式热触觉方案在先进人机交互中的有效性。
原文摘要 · Abstract (English)
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger unit. By embedding heating elements within textile pneumatic chambers, the system delivers modulated pressure and thermal stimuli to fingerpads through a fully soft, wearable interface. Comprehensive characterization demonstrates rapid thermal modulation with heating rates up to 3$^{\circ}$C/s, enabling dynamic thermal feedback for virtual or teleoperation interactions. The pneumatic subsystem generates forces up to 8.93~N at 50~kPa, while optimization of fingerpad-actuator clearance enhances cooling efficiency with minimal force reduction. Experimental validation conducted with two different user studies shows high temperature identification accuracy (0.98 overall) across three thermal levels, and significant manipulation improvements in a virtual pick-and-place tasks. Results show enhanced success rates (88.5\% to 96.4\%, p = 0.029) and improved force control precision (p = 0.013) when haptic feedback is enabled, validating the effectiveness of the integrated thermal-haptic approach for advanced human-machine interaction applications.
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