AI 中文总结
本文设计了采用蜂窝挤压机制的可穿戴触觉装置HJ-Haptic，可通过30kPa真空压力调节刚度，在遥操作中提供可靠的物体刚度反馈，保障安全，提升遥操作性能。
AI 中文摘要
本文针对双边遥操作中力觉反馈的提供难题，设计了一款可穿戴、重量仅20g且结构紧凑的触觉装置HJ-Haptic，该装置采用蜂窝挤压机制实现物体刚度渲染。HJ-Haptic装置可通过30kPa的真空压力将刚度在1.15N/mm至2.64N/mm之间调节。我们展示了其在遥操作框架中的应用，使操作者能基于可靠的物体刚度触觉反馈调整抓握力。为评估装置功能，对蜂窝挤压机制进行了三点弯曲测试，并开展了遥操作物体抓握任务。实验表明，该装置在遥操作运动、刚度渲染及交互力反馈方面具有较小的均方根误差（RMSE）和强相关性；HJ-Haptic可响应实时夹具反馈有效调整刚度，模拟人手直接抓握物体的感觉；其采用的真空压力可在气体泄漏或材料失效时避免危险情况，保障操作者安全。将HJ-Haptic融入遥操作框架后，可提供可靠的物体刚度感知与稳定的遥操作，本研究凸显了蜂窝挤压机制在增强触觉反馈方面的潜力，适用于遥操作场景及扩展现实环境交互等多种应用。
英文摘要
This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device's functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device's use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments.
Comments18 pages, 10 figures. Published in Machines 2025, 13(1), 27
Journal refMachines 2025, 13(1), 27
