School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710000, China.
Sensors (Basel). 2021 Apr 6;21(7):2560. doi: 10.3390/s21072560.
The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user's hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality.
超声相控阵作为一种新兴的交互式工具，越来越多地用于空中触觉交互。然而，据我们所知，目前几乎没有通过超声相控阵实现远程可变力反馈的方法。本文提出了一种用于遥操作机器人系统的力触觉反馈方法，该方法跟踪五指并在指尖形成焦点。首先，感知焦点的大小取决于输入参数。通过物理测试实验获得了参数对物理输出压力强度的影响。然后，通过心理物理实验方法研究了人类感知的绝对阈值和差异阈值。最后，根据实验结果选择输入参数。根据收集到的数据，完成了力回归模型的构建，并将不同的参数映射到感知强度上。实际操作中产生的接触力反馈给触觉系统，构建的模型自动调整控制参数，以确保用户的手呈现出与强度变化相对应的感觉输出。对整个力反馈系统进行了评估，结果表明该系统具有良好的感知质量。
