发表机构
Nagoya University; Japan Society for the Promotion of Science; Gifu University（名古屋大学; 日本学术振兴会; 岐阜大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究开发了基于 McKibben 表面触觉的可穿戴致动器，结合特定算法实现肩肘手部位置直观引导，其性能优于合成语音、振动触觉等传统引导方法。
AI 中文摘要
手部位置的直观感知引导对于提升沉浸式环境中的用户交互和任务表现至关重要。然而，依赖触觉的传统手部位置引导方法缺乏直观性，用户在使用前需要学习触觉与引导目标位置的对应关系，还需经过训练以熟悉这些触觉。本研究提出一种具有直观感知的手部位置引导系统，利用作用于肩肘的基于 McKibben 的表面触觉。我们开发了一种可穿戴织物致动器，可提供基于 McKibben 的表面触觉，用于诱导六种特定动作：肘部屈曲、伸展，肩部外展、内收、水平外展、水平内收。实验验证了该致动器的有效性，其在直观诱导六种动作方面表现出高精度。我们还实现了基于平衡点假说和韦伯-费希纳定律的算法，以调节手部位置引导的触觉强度。此外，我们将该系统的准确性和速度与使用合成语音和振动触觉的传统引导方法进行了比较。
英文摘要
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.
CommentsThis is the accepted version of an article published in IEEE Robotics and Automation Letters 10(4), 3254-3261 (2025). DOI: 10.1109/LRA.2025.3540579. Open Access under CC BY-NC-ND 4.0
Journal refIEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3254-3261, 2025
