IEEE Trans Haptics. 2017 Jul-Sep;10(3):444-455. doi: 10.1109/TOH.2016.2604305. Epub 2016 Aug 30.
This paper presents a method to generate a haptic illusion of compliance using a vibrotactile actuator when a tangential force is applied to a rigid surface. The novel method builds on a conceptual compliance model where a physical object moves on a textured surface in response to a tangential force. The method plays vibration patterns simulating friction-induced vibrations as an applied tangential force changes. We built a prototype consisting of a two-dimensional tangential force sensor and a surface transducer to test the effectiveness of the model. Participants in user experiments with the prototype perceived the rigid surface of the prototype as a moving, rubber-like plate. The main findings of the experiments are: 1) the perceived stiffness of a simulated material can be controlled by controlling the force-playback transfer function, 2) its perceptual properties such as softness and pleasantness can be controlled by changing friction grain parameters, and 3) the use of the vibrotactile compliance feedback reduces participants' workload including physical demand and frustration while performing a force repetition task.
本文提出了一种在刚性表面上施加切向力时使用振动致动器产生顺应性触觉错觉的方法。该新方法基于一种顺应性模型，其中物理对象在纹理表面上移动以响应切向力。该方法通过播放模拟摩擦引起的振动的振动模式来响应切向力的变化。我们构建了一个由二维切向力传感器和表面换能器组成的原型，以测试模型的有效性。使用原型进行用户实验的参与者将原型的刚性表面感知为可移动的橡胶状板。实验的主要发现是：1）通过控制力反馈传递函数可以控制模拟材料的感知刚度，2）通过改变摩擦颗粒参数可以控制其感知特性，如柔软度和舒适度，3）使用振动顺应性反馈可以减少参与者在执行力重复任务时的工作量，包括体力需求和挫折感。
