Laboratory of Machine Learning and Intelligent Instrumentation, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil.
Graduate Program of Computer Science, Federal University of Santa Catarina, Florianópolis 88036-610, Brazil.
Sensors (Basel). 2022 Dec 15;22(24):9865. doi: 10.3390/s22249865.
This work aimed to develop a real-time test platform for systems associated with the tactile internet area. The proposal comprises a master device, a communication channel and a slave device. The master device is a tactile glove (wearable technology) that works as a tactile interface based on vibratory feedback. The master device can interact with virtual elements (local or remote). The Matlab/Simulink environment and a robotics toolbox form the communication channel and the slave device. The communication channel introduces a bidirectional connection of variable latency, and the slave device is defined as a robotic phantom omni manipulator emulated in Matlab/Simulink. The virtual robotic manipulator, the slave device, can generate different types of tactile sensations in the tactile glove, that is, in the master device. The platform can model tactile sensations such as coarse roughness, fine roughness, smoothness, dripping and softness. The proposed platform presented adequate results and can be used to test various algorithms and methods correlated to the tactile internet.
这项工作旨在开发一个与触觉互联网领域相关的系统的实时测试平台。该提案包括一个主设备、一个通信通道和一个从设备。主设备是一个触觉手套（可穿戴技术），它作为基于振动反馈的触觉接口工作。主设备可以与虚拟元素（本地或远程）交互。Matlab/Simulink 环境和机器人工具箱构成了通信通道和从设备。通信通道引入了可变延迟的双向连接，从设备被定义为在 Matlab/Simulink 中模拟的全向机器人幻影操纵器。虚拟机器人操纵器，从设备，可以在触觉手套中产生不同类型的触觉，即在主设备中。该平台可以模拟粗糙、精细粗糙度、平滑度、滴水和柔软度等触觉。所提出的平台取得了良好的效果，可用于测试与触觉互联网相关的各种算法和方法。
