发表机构
University of California, San Diego（加州大学圣地亚哥分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出内置流体逻辑的可穿戴触觉设备气动单元PULSE，构建的流体环形振荡器减少60%气动输入，前臂触觉套可传递方向提示，初始方向准确率达93.3%。
AI 中文摘要
柔性可穿戴机器人设备可提供触觉反馈，支持扩展现实、各类技能训练及康复等多种任务。气动驱动可提供复杂触觉反馈，且重量轻、柔顺性好，可集成到纺织品中，因此在可穿戴应用中颇具前景。然而，这类柔性气动设备通常需要为每个气动执行器配备一个阀门和输入，这使得开发可在家使用的完全便携设备颇具挑战。本研究提出了一种基于逻辑的顺序激励气动单元（PULSE），它是一种扁平的、基于纺织品的气动执行器，内置流体逻辑。通过将这些执行器组合成流体环形振荡器，我们将前臂触觉套所需的典型气动输入量减少了60%，且具备可扩展性。我们通过优化设计变量构建了该环形振荡器，以达到所需的振荡周期。我们展示了一组触觉抚摸提示，其周期范围为1.16至1.56秒，力范围为1.07至2.04牛。我们通过用户研究评估了该触觉套呈现差异化、愉悦且连续的触觉提示的能力。包含PULSE的前臂触觉套成功传递了四种方向提示，并引导用户达到目标手腕角度，具有快速反应时间、低超调量，且初始方向的平均准确率达93.3%。
英文摘要
Soft, wearable robotic devices can deliver haptic feedback to support a wide range of tasks, such as extended reality, training various skills, and rehabilitation. Pneumatic actuation can deliver complex haptic feedback, is lightweight and compliant, and can be incorporated into textiles, making it promising for wearable applications. These soft pneumatic devices, however, typically require a valve and input for each pneumatic actuator, making it challenging to develop fully portable devices for at-home use. In this work we present a pneumatic unit for logic-based sequential excitation (PULSE). The PULSE is a flat, textile-based pneumatic actuator with embedded fluidic logic. By combining these actuators into a fluidic ring oscillator, we decreased the typical amount of required pneumatic inputs for a haptic forearm sleeve by 60%, with the ability to scale. We built the ring oscillator by optimizing design variables to reach desired periods of oscillation. We demonstrated a set of tactile stroking cues with periods ranging from 1.16 to 1.56 s and forces ranging from 1.07 to 2.04 N. We assessed the sleeve's ability to render differentiable, pleasant, and continuous haptic cues in a user study. The forearm sleeve containing PULSEs successfully delivered four directional cues and guided users to target wrist angles with fast reaction times, low overshoot amounts, and a 93.3% average accuracy of correct initial directions.
Comments9 pages, 6 figures
