IEEE Trans Haptics. 2012;5(3):252-63. doi: 10.1109/TOH.2012.20.
This paper presents the development of a compact tactile display and its integration in teleoperation. The system's operation is based on the display of surface shape to an area of the fingertip through a 4 × 4 array of tactors moving perpendicularly to the skin surface. The tactors are spring loaded and are actuated remotely by dc motors through a flexible tendon transmission. This novel implementation of conventional actuation principles achieves a compact design with superior performance compared to devices of a similar footprint, demonstrating an excellent combination of tactor spatiotemporal resolution, force, and amplitude. The display's ergonomic design and high performance make it suitable for integration on haptic devices for tactile feedback in VR and in Teleoperation. This paper presents the design, control, and performance of the tactile display and of the transmission system. It also demonstrates its integration on an Omega7 force feedback device for the teleoperation of an LWR KUKA manipulator. An experiment is presented where users teleoperated the stylus of the robot in a 3D contour following task with and without tactile feedback. In this experiment, force feedback from the slave is fused with model-based local tactile feedback. Subjects' performances indicate an improvement in teleoperation when both tactile and force feedback are present.
本文介绍了一种紧凑型触觉显示器的开发及其在遥操作中的集成。该系统的操作基于通过 4×4 个垂直于皮肤表面移动的触觉器阵列将表面形状显示到指尖区域。触觉器由弹簧加载，并通过柔性肌腱传动远程由直流电机驱动。与具有类似足迹的设备相比，这种传统致动原理的新颖实现实现了紧凑的设计和卓越的性能，展示了触觉器时空分辨率、力和幅度的出色组合。该显示器的人体工程学设计和高性能使其适合集成在虚拟现实中的触觉设备和遥操作中用于触觉反馈。本文介绍了触觉显示器和传输系统的设计、控制和性能。它还展示了它在 Omega7 力反馈设备上的集成，用于 LWR KUKA 操纵器的遥操作。本文提出了一个实验，其中用户在具有和不具有触觉反馈的情况下，通过机器人的触笔进行 3D 轮廓跟随任务的遥操作。在这个实验中，从机的力反馈与基于模型的局部触觉反馈融合。实验结果表明，当同时存在触觉和力反馈时，遥操作的性能得到了提高。
