论文标题
用低成本的触觉机器人绘制空中触觉
Mapping Mid-air Haptics with a Low-cost Tactile Robot
论文作者
论文摘要
空中触觉创造了一种新的反馈方式，以使人们能够在空中感觉到触觉。超声波阵列聚焦于空间的声音辐射压力，以引起由此产生的皮肤偏转的触觉感觉。在这项工作中，我们提出了一个低成本的触觉机器人，以测试空中触觉。通过将桌面机器人组与3D打印的仿生触觉传感器相结合，我们开发了一个可以感知，映射和可视化的系统中空气触觉的系统，由超声波传感器阵列产生。我们通过对多种空中触觉刺激进行测试，包括未经调节和调节的焦点来评估触觉机器人。我们将刺激的映射与用于测试空气中触觉的另一种方法的映射：激光多普勒振动法，突出了触觉机器人的优势，包括较低的成本，轻量级的小型表格因子和易用性。总体而言，这些发现表明我们的方法具有感知空气中触觉的多个好处，并为扩展测试以更好地模仿人触觉感知开辟了新的可能性。
Mid-air haptics create a new mode of feedback to allow people to feel tactile sensations in the air. Ultrasonic arrays focus acoustic radiation pressure in space, to induce tactile sensation from the resulting skin deflection. In this work, we present a low-cost tactile robot to test mid-air haptics. By combining a desktop robot arm with a 3D-printed biomimetic tactile sensor, we developed a system that can sense, map, and visualize mid-air haptic sensations created by an ultrasonic transducer array. We evaluate our tactile robot by testing it on a variety of mid-air haptic stimuli, including unmodulated and modulated focal points that create a range of haptic shapes. We compare the mapping of the stimuli to another method used to test mid-air haptics: Laser Doppler Vibrometry, highlighting the advantages of the tactile robot including far lower cost, a small lightweight form-factor, and ease-of-use. Overall, these findings indicate our method has multiple benefits for sensing mid-air haptics and opens up new possibilities for expanding the testing to better emulate human haptic perception.
