用肌肉气动触觉引导手部位置，更直观高效。
Intuitive Hand Positional Guidance Using McKibben-Based Surface Tactile Sensations to Shoulder and Elbow
- 通过肩肘部位的气动织物装置产生触觉反馈，引导六种动作。
- 实验显示能高精度、直观地实现六种运动指令。
- 适合虚拟现实、康复训练等需要自然交互的场景。
在沉浸式环境中，直观的手部位置引导对提升用户交互体验和任务表现至关重要。然而，传统依赖触觉感应的手部引导方法缺乏直观性，用户需事先学习触觉与目标位置的关系，并经过训练才能熟悉触觉信号。本研究提出一种基于麦基本（McKibben）气动装置的肩肘表面触觉引导系统，可实现六种特定动作：屈肘、伸肘、肩外展、内收、水平外展和水平内收。设计了一款可穿戴织物致动器，通过施加气动触觉刺激实现动作引导。实验验证了该系统的有效性，展现出高精度的直观运动诱导能力。系统采用基于平衡点假设与韦伯-费希纳定律的算法，动态调节触觉强度以实现精准引导。此外，将本系统在准确性和响应速度上与合成语音及振动触觉引导方法进行了对比。
原文摘要 · Abstract (English)
Hand positional guidance with intuitive perception is crucial for enhancing user interaction and task performance in immersive environments. However, conventional hand positional guidance methods, relying on tactile sensations, lack intuitiveness. Consequently, users require instruction on the relationship between the tactile sensation and target position of the guidance before using these methods. Additionally, the user needs training to become familiar with tactile sensations. This study presents a hand positional guidance system with intuitive perception that leverages McKibben-based surface tactile sensations directed to the shoulder and elbow. We developed a wearable fabric actuator that provides McKibben-based surface tactile sensations to induce six specific movements: elbow flexion, extension, shoulder abduction, adduction, horizontal abduction, and horizontal adduction. The effectiveness of the actuator was experimentally validated, demonstrating its high accuracy in intuitively inducing six movements. An algorithm based on the equilibrium point hypothesis and Weber-Fechner law was implemented to regulate the intensity of the tactile sensations for hand positional guidance. Furthermore, the accuracy and speed of the proposed system were compared with that of conventional guidance methods utilizing synthesized speech and vibrotactile guidance.
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