用于连续、闭环、双向触觉交互的可穿戴气动装置

中文摘要 AI 辅助

我们提出了一种由两个可穿戴气动触觉装置组成的系统，该系统支持在感知相关的力和时间尺度下进行连续、闭环、双向触觉交互。单个装置可包含多达12个压力传感通道，这些通道连接到基于织物的气动囊袋。装置中的每个通道可用作传感器、执行器或两者兼具。作为集成传感的执行器，该通道通过局部闭环控制产生稳定的皮肤压痕；作为传感器，该通道可安装在任何表面上，包括机器人夹具或人体，用于测量与环境或人类用户的触觉交互。分布式架构支持持续压力输出、快速动态响应，以及系统中相同装置的无线配对，以实时传输和再现触觉压力信号。装置级特性测试显示力带宽超过30Hz，阶跃响应快速且阻尼良好，与现有的紧凑型气动平台相比压力保持时间更长。人体实验表明，基于压力的指尖反馈能够区分力和刚度，通过减少高达23.1%的施加压力和高达27.4%的任务时长来改善远程操作，并降低18.8%的主观心理负荷，尤其是在视觉受限条件下。通过在单一气动模态中统一触觉传感和触觉反馈，该装置为远程操作中的双向触觉交互提供了实用基础。

英文摘要

We present a system of two wearable pneumatic haptic devices that supports continuous, closed-loop, bidirectional tactile interaction at perceptually relevant force and temporal scales. A single device can contain up to twelve pressure sensing channels connected to textile-based pneumatic pouches. Each channel in a device can be used as a sensor, an actuator, or both. As an actuator with integrated sensing, the channel generates stable skin indentation through local closed-loop control. As a sensor, a channel can be mounted (or worn) on any surface, including on a robot gripper or on the human body, and used to measure touch interactions with the environment or a human user. A distributed architecture supports sustained pressure output, rapid dynamic response, and wireless pairing of identical devices in a system to transmit and reproduce tactile pressure signals in real time. Device-level characterization demonstrates force bandwidth exceeding 30 Hz, rapid and well-damped step responses, and extended pressure retention compared to prior compact pneumatic platforms. Human studies show that pressure-based fingertip feedback enables discrimination of force and stiffness, improves teleoperated manipulation by reducing applied pressures by up to 23.1% and task duration by up to 27.4%, and lowers subjective mental workload by 18.8%, particularly under visually constrained conditions. By unifying tactile sensing and haptic feedback within a single pneumatic modality, the device provides a practical foundation for bidirectional touch interaction in teleoperation.

发表机构

• Stanford University（斯坦福大学）

机构由 AI 辅助整理，请以论文原文为准。