Gourishetti Ravali, Kuchenbecker Katherine J
IEEE Trans Haptics. 2022 Jan-Mar;15(1):39-44. doi: 10.1109/TOH.2021.3138867. Epub 2022 Mar 18.
Specialized vibrotactile actuators are widely used to output haptic sensations due to their portability and robustness; some models are expensive and capable, while others are economical but weaker and less expressive. To increase the accessibility of high-quality haptics, we designed a cost-effective actuation approach called the rotating motor actuator (RMA): it uses a small DC motor to generate vibrotactile cues on a rigid stylus. We conducted a psychophysical experiment where eighteen volunteers matched the RMA's vibration amplitudes with those from a high-quality reference actuator (Haptuator Mark II) at twelve frequencies from 50 Hz to 450 Hz. The average error in matching acceleration magnitudes was 10.2%. More current was required for the RMA than the reference actuator; a stronger DC motor would require less current. Participants also watched a video of a real tool-mediated interaction with playback of recorded vibrotactile cues from each actuator. 94.4% of the participants agreed that the RMA delivered realistic vibrations and audio cues during this replay. 83.3% reported that the RMA vibrations were pleasant, compared to 66.7% for the reference. A possible cause for this significant difference may be that the reference actuator (which has a mechanical resonance) distorts low-frequency vibrations more than the RMA does.
由于其便携性和耐用性，专用振动触觉致动器被广泛用于输出触觉感受；一些型号价格昂贵但功能强大，而另一些则经济实惠但功能较弱且表现力较差。为了提高高质量触觉的可及性，我们设计了一种具有成本效益的致动方法，称为旋转电机致动器（RMA）：它使用一个小型直流电机在刚性触控笔上产生振动触觉线索。我们进行了一项心理物理学实验，18名志愿者在50赫兹至450赫兹的12个频率下，将RMA的振动幅度与高质量参考致动器（触觉器Mark II）的振动幅度进行匹配。匹配加速度大小的平均误差为10.2%。与参考致动器相比，RMA需要更多的电流；更强的直流电机所需电流会更少。参与者还观看了一段真实工具介导交互的视频，并回放了每个致动器录制的振动触觉线索。94.4%的参与者一致认为，在这次回放中，RMA传递了逼真的振动和音频线索。83.3%的参与者报告说RMA的振动令人愉悦，而参考致动器的这一比例为66.7%。造成这一显著差异的一个可能原因可能是，参考致动器（具有机械共振）比RMA更能扭曲低频振动。
