People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure post-training skill retention. Here, we describe a programmable haptic sleeve composed of textile-based electroadhesive clutches for skill acquisition and retention. We show its functionality in a motor learning study where users control a drone's movement using elbow joint rotation. Haptic feedback is used to restrain elbow motion and make users aware of their errors. This helps users consciously learn to avoid errors from occurring. While all subjects exhibited similar performance during the baseline phase of motor learning, those subjects who received haptic feedback from the haptic sleeve committed 23.5% fewer errors than subjects in the control group during the evaluation phase. The results show that the sleeve helps users retain and transfer motor skills better than visual feedback alone. This work shows the potential for fabric-based haptic interfaces as a training aid for motor tasks in the fields of rehabilitation and teleoperation.
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloy Actuators for Spatial and Temporal Haptic Feedback
Korea National University of Transportation（韩国交通大学）；University of California（加州大学）；Ajou University（全州大学）；Pohang University of Science and Technology（釜山科学技术大学）
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design. Shape-Haptics abstracts and broadens the haptic expression of this class of force feedback systems through 2D laser cut configurations that are simple to fabricate. They leverage the properties of polyoxymethylene plastic and comprise a compliant spring structure that engages with a sliding profile during tangible interaction. By shaping the sliding profile, d…
Wearable fingertip haptic interfaces provide tactile stimuli on the fingerpads by applying skin pressure, linear and rotational shear, and vibration. Designing and fabricating a compact, multi-degree-of-freedom, and forceful fingertip haptic interface is challenging due to trade-offs among miniaturization, multifunctionality, and manufacturability. Downsizing electromagnetic actuators that produce high torques is infeasible, and integrating multiple actuators, links, joints, and transmission elements increases device size and weight. 3-D printing enables rapid manufacturing of complex devices …
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and the device footprint. We characterize the bandwidth, workspace, and force outp…
