CUFF,紧握上肢力量反可穿戴设备:设计,表征和验证
IEEE transactions on haptics
|March 13, 2024
概括
这项研究引入了一种用于手臂反的新型可穿戴触觉设备,在对象区分和机器人手控制等任务的用户测试中被证明是有效的. 多功能CUFF设备显示了康复和假肢的潜力.
科学领域:
- 机器人和人机交互的人机交互
- 可穿戴技术可穿戴技术
- 触觉学和生物力学
背景情况:
- 触觉反对于直观的人机交互至关重要.
- 现有的可穿戴触觉系统往往缺乏多功能性,无法提供多样化的触觉感觉.
- 对于远程操作和康复等应用,需要先进的控制和感官反.
研究的目的:
- 设计,描述和验证一种新的可穿戴触觉装置,用于向手臂提供皮肤拉伸和强力反.
- 为了评估设备在感知歧视和机器人手操纵任务中的有效性.
- 评估设备在各种应用中的潜力,包括指导,康复和假肢.
主要方法:
- 开发了一种新的可穿戴触觉设备 (CUFF),可以提供皮肤拉伸和/或力反.
- 与11名身体健康的参与者进行了身体和感知表征.
- 与32名参与者进行了两项实验:一项筒分辨任务和一项使用CUFF设备和Pisa/IIT SoftHand的机器人手抓捕任务.
主要成果:
- 可穿戴的触觉设备成功地提供了皮肤拉伸和力反的组合.
- 使用该设备,参与者可以有效地根据尺寸和柔软性来区分物体.
- 用户成功地通过触觉反控制了一个机器人手来完成物体抓取任务.
- 主观评估表明,用户满意度高,设备有效性高.
结论:
- CUFF可穿戴触觉设备是一种多功能和有效的工具,用于增强人机交互.
- 该设备显示出在远程操作,指导,康复和假肢控制方面的应用潜力很大.
- 该研究验证了设备在复杂任务中提供有意义的触觉信息的能力.
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