可穿戴式触觉手环，用记忆合金实现无绳静音的时空触感反馈。
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloy Actuators for Spatial and Temporal Haptic Feedback
- 采用柔性记忆合金致动器集成于多层织物，实现无绳触觉反馈。
- 4个致动器最大输出1.7N力，位移3.2mm，工作频段1.34-6.59Hz。
- 用户定位与模式识别准确率超90%，适合导航与协作任务。
手腕和前臂的触觉接口为手部佩戴设备提供了有吸引力的替代方案，它们穿戴简便，解放双手，并对自然手臂运动干扰小。然而，要适用于真实场景，这类设备必须在功能、可穿戴性与舒适性之间取得平衡，同时完全无线、质量轻、体积小。本文提出CASAband，一种将柔性放大形状记忆合金致动器（CASA）嵌入多层织物腕带中的触觉腕带，可提供时空触觉反馈。CASAband完全无线运行，无噪音，总质量仅63克。设备配备四个致动器，可产生最高1.7 N的阻塞力和3.2 mm的自由位移，工作带宽随电压变化，在1.34–6.59 Hz之间。我们进行了感知实验，结果显示用户能以超过90%的平均准确率识别单一触觉提示的位置，并区分多种模式化提示，表明其适用于现实世界的引导与导航任务。通过两个演示验证其潜力：一是仅依赖调度员的触觉指令完成拾取放置任务；二是户外行人导航中仅依靠腕部方向提示完成路径引导。CASAband是少数在形态与功能间取得平衡的触觉接口之一，为现实世界中的触觉反馈开辟新可能。
原文摘要 · Abstract (English)
Haptic interfaces for the wrist and forearm offer an attractive alternative to hand-worn devices as they are simple to wear, leave the hands free for interaction with the real world, and interfere minimally with natural arm motions. To be useful in real-world settings, however, such devices must balance functionality, wearability and comfort, all while being fully untethered with minimal mass and volume. In this work, we present CASAband, a haptic wristband that integrates compliant amplified shape memory alloy actuators (CASA) into a multi-layered textile wristband to deliver spatial and temporal haptic feedback. CASAband operates completely untethered, generates no noise, and has a total mass of 63 g. The device incorporates four actuators that can generate up to 1.7 N of blocked force and 3.2 mm of free displacement with an operating bandwidth ranging from 1.34-6.59 Hz depending on the applied voltage. We conducted a perceptual study and determined that users could identify the location of a single haptic cue around their wrist and discriminate among several patterned cues with over 90% accuracy on average, highlighting that CASAband can be a suitable wearable interface to deliver information for real-world guidance and navigation tasks. To highlight the potential use cases for CASAband, we conducted two demonstrations: a pick and place task where the user relied only on haptic communication from a moderator, and an outdoor pedestrian navigation task where the user relied only on directional cues on the wrist. CASAband is one of the first haptic interfaces that balances the tradeoff between form and function and presents new opportunities for haptic feedback in the real world
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