Bai Dongming, Ju Feng, Qi Fei, Cao Yanfei, Wang Yaoyao, Chen Bai
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
2 The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China.
Proc Inst Mech Eng H. 2019 Feb;233(2):244-253. doi: 10.1177/0954411918821387. Epub 2018 Dec 29.
A novel wearable vibrotactile system is proposed in this article to enhance the performance of teleoperation robot systems. Using a wearable vibrotactile glove, the proposed system guides the operator in the master-slave control through a vibrotactile-visual guidance method. Based on sensory substitution, the vibrotactile-visual combined guidance method combines vibration stimuli and visual feedback to substitute the virtual guidance force. A vibrotactile potential field is constructed in the workspace of the master-operator to calculate the frequency of the vibration stimulus. To provide vibration stimuli, a novel vibrotactile glove is designed and manufactured based on the layout of the sensitive region of human hand. As the human hand is unable to discriminate vibration stimuli of all frequencies, the vibration stimulus is discretization according to the result of the vibration discriminability experiment. At last, two contrast experiments in obstacle-free and obstacle-existing environments are conducted to verify the feasibility and effectiveness of the wearable vibrotactile system. The results show that this wearable vibrotactile system is an effective solution for guiding the operators in teleoperation and virtual environments.
本文提出了一种新型可穿戴振动触觉系统，以提高遥操作机器人系统的性能。该系统使用可穿戴振动触觉手套，通过振动触觉-视觉引导方法在主从控制中引导操作员。基于感官替代，振动触觉-视觉组合引导方法将振动刺激和视觉反馈相结合，以替代虚拟引导力。在主操作员的工作空间中构建振动触觉势场，以计算振动刺激的频率。为了提供振动刺激，基于人手敏感区域的布局设计并制造了一种新型振动触觉手套。由于人手无法区分所有频率的振动刺激，因此根据振动辨别实验的结果对振动刺激进行离散化处理。最后，在无障碍物和有障碍物的环境中进行了两项对比实验，以验证可穿戴振动触觉系统的可行性和有效性。结果表明，这种可穿戴振动触觉系统是在遥操作和虚拟环境中引导操作员的有效解决方案。
