IEEE Transactions on Haptics最新文献_第9页

Development of an Intuitive Interface with Haptic Enhancement for Robot-Assisted Endovascular Intervention. 为机器人辅助血管内介入治疗开发具有触觉增强功能的直观界面。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-12-25 DOI: 10.1109/TOH.2023.3346479

Wenke Duan, Zihao Li, Olatunji M Omisore, Wenjing Du, Toluwanimi O Akinyemi, Xingyu Chen, Xing Gao, Hongbo Wang, Lei Wang

Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipulate endovascular tools such as guidewire and catheter and perceive their safety when cannulating patient's vessels. Currently, the existing interventional robots lack a haptic system for accurate force feedback that surgeons can rely on. In this paper, a haptic-enabled endovascular interventional robot was developed. We proposed a dynamic hysteresis compensation model to address the challenges of hysteresis and nonlinearity in magnetic powder brake-based haptic interface, which were used for providing high-precision and higher dynamic range haptic perception. Also, for the first time, a human perceptual-based haptic enhancement model and safety strategy were integrated with the custom-built haptic interface for enhancing sensation discrimination ability during robot-assisted endovascular interventions. This can effectively amplify even subtle changes in low-intensity operational forces such that surgeons can better discern any vessel-tools interaction force. Several experimental studies were performed to show that the haptic interface and the kinesthetic perception enhancement model can enhance the transparency of robot-assisted endovascular interventions, as well as promote the safety awareness of surgeon.

机器人辅助血管内介入治疗有可能减少外科医生的辐射暴露，提高介入治疗的效果。然而，血管内介入治疗的成功与否和安全性取决于外科医生能否准确操作导丝和导管等血管内工具，以及在为患者血管插管时能否感受到它们的安全性。目前，现有的介入机器人缺乏外科医生可以依赖的准确力反馈触觉系统。本文开发了一种具有触觉功能的血管内介入机器人。我们提出了一种动态磁滞补偿模型，以解决基于磁粉制动器的触觉界面中存在的磁滞和非线性问题，从而提供高精度和更高动态范围的触觉感知。此外，还首次将基于人类感知的触觉增强模型和安全策略与定制的触觉界面相结合，以增强机器人辅助血管内介入治疗过程中的感觉分辨能力。这可以有效放大低强度操作力的细微变化，使外科医生能够更好地辨别血管与工具之间的相互作用力。多项实验研究表明，触觉界面和动觉增强模型可以提高机器人辅助血管内介入手术的透明度，并增强外科医生的安全意识。

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引用次数: 0

Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces 触觉界面的自适应能量参考时域通过性控制

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2023-12-11 DOI: 10.1109/TOH.2023.3341336

Nafise Faridi Rad;Ryozo Nagamune

Haptic devices are designed to assist humans in operating tasks in a remote or virtual environment. The passivity-based controllers feed back the forces from the environment while maintaining stability. This article presents the adaptive energy reference time domain passivity approach to overcome the sudden force change inherent in the conventional time domain passivity approach (TDPA). The main advantage of the proposed method is that it can be applied to the haptic interfaces interacting with delayed unknown environments without increasing conservatism compared to the conventional TDPA with or without energy reference. The adaptive energy reference is learned at each interaction by a passive estimation of the haptic interface energy. The energy reference is found using force and velocity data, which does not need the foreknowledge of the environment dynamic model parameters and time delay. Therefore, the designed controller can adapt to different environments and time delays. The proposed method is evaluated in both simulation and experimental setups where the parameters of the environments are unknown to the controller. It is shown that the sudden change in force is decreased compared to the conventional TDPA for haptic interface with or without time delay in the system.

触觉设备旨在协助人类在远程或虚拟环境中执行任务。基于被动性的控制器在保持稳定性的同时反馈来自环境的力。本文提出了自适应能量参考时域被动方法，以克服传统时域被动方法（TDPA）固有的力突变问题。所提方法的主要优势在于，与有或无能量参考的传统 TDPA 相比，它可以应用于与延迟未知环境交互的触觉界面，而不会增加保守性。自适应能量参考是在每次交互时通过对触觉界面能量的被动估计来学习的。能量参考是通过力和速度数据找到的，不需要预先知道环境动态模型参数和时间延迟。因此，所设计的控制器可以适应不同的环境和时间延迟。在控制器未知环境参数的情况下，对所提出的方法进行了模拟和实验评估。结果表明，与传统的触觉界面 TDPA 相比，无论系统中是否有时间延迟，力的突然变化都会减小。

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引用次数: 0

Noncontact Haptic Rendering of Static Contact With Convex Surface Using Circular Movement of Ultrasound Focus on a Finger Pad 利用超声聚焦在指垫上的圆周运动实现与凸面静态接触的非接触触觉渲染。

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2023-12-01 DOI: 10.1109/TOH.2023.3338230

Tao Morisaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda

A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the sound pressure distribution at a low frequency. This finding expands the potential for tactile rendering in ultrasound haptics as static pressure sensation is perceived with a high spatial resolution. In this study, we verified that focused ultrasound can render a static pressure sensation associated with contact with a small convex surface on a finger pad. This static contact rendering enables noncontact tactile reproduction of a fine uneven surface using ultrasound. In the experiments, four ultrasound foci were simultaneously and circularly rotated on a finger pad at 5 Hz. When the orbit radius was 3 mm, vibration and focal movements were barely perceptible, and the stimulus was perceived as static pressure. Moreover, under the condition, the pressure sensation rendered a contact with a small convex surface with a radius of 2 mm. The perceived intensity of the static contact sensation was equivalent to a physical contact force of 0.24 N on average, 10.9 times the radiation force physically applied to the skin.

将机载超声聚焦在人体皮肤上，可以产生非接触式触觉刺激。最近有报道称，聚焦超声通过调制低频声压分布，不仅能在手掌上产生振动，还能产生静压感。这一发现扩大了超声触觉中触觉渲染的潜力，因为静压感觉具有高空间分辨率。在这项研究中，我们验证了聚焦超声可以呈现与手指垫上的小凸面接触相关的静压感。这种静态接触渲染可以使用超声波实现精细不均匀表面的非接触触觉再现。在实验中，四个超声病灶同时在手指垫上以5hz的频率进行圆周旋转。当轨道半径为3 mm时，几乎感觉不到振动和焦点运动，刺激被认为是静压。此外，在这种情况下，压力感觉呈现出与半径为2mm的小凸面接触。感知到的静态接触感强度相当于平均0.24 N的物理接触力，是物理施加在皮肤上的辐射力的10.9倍。

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引用次数: 0

Sound-to-Touch Crossmodal Pitch Matching for Short Sounds 短声音的声-触跨模音高匹配。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-12-01 DOI: 10.1109/TOH.2023.3338224

Dong-Geun Kim;Jungeun Lee;Gyeore Yun;Hong Z. Tan;Seungmoon Choi

This article explores how to relate sound and touch in terms of their spectral characteristics based on crossmodal congruence. The context is the audio-to-tactile conversion of short sounds frequently used for user experience improvement across various applications. For each short sound, a single-frequency amplitude-modulated vibration is synthesized so that their intensive and temporal characteristics are very similar. It leaves the vibration frequency, which determines the tactile pitch, as the only variable. Each sound is paired with many vibrations of different frequencies. The congruence between sound and vibration is evaluated for 175 pairs (25 sounds × 7 vibration frequencies). This dataset is employed to estimate a functional relationship from the sound loudness spectrum of sound to the most harmonious vibration frequency. Finally, this sound-to-touch crossmodal pitch mapping function is evaluated using cross-validation. To our knowledge, this is the first attempt to find general rules for spectral matching between sound and touch.

本文探讨了如何根据声音和触觉的频谱特征，在跨模一致性的基础上，将它们联系起来。上下文是音频到触觉的短声音的转换，经常用于各种应用程序的用户体验改进。对于每一个短的声音，一个单频调幅振动被合成，使它们的强度和时间特征非常相似。它留下的振动频率，决定触觉的音高，作为唯一的变量。每一种声音都伴随着许多不同频率的振动。对175对(25个sounds×7振动频率)进行了声音和振动的一致性评估。该数据集用于估计声音响度谱与最和谐振动频率之间的函数关系。最后，使用交叉验证来评估这个声音到触摸的跨模态基音映射函数。据我们所知，这是首次尝试找到声音和触觉之间光谱匹配的一般规则。

引用次数: 0

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control 人造皮肤拉伸对刚度感知和握力控制的定向影响。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-11-13 DOI: 10.1109/TOH.2023.3332295

Mor Farajian;Raz Leib;Hanna Kossowsky;Ilana Nisky

When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.

当与物体互动时，我们使用动觉和触觉信息来创造我们对物体属性的感知，并使用握力控制来防止其滑动。我们之前的研究表明，将人工皮肤拉伸与动觉力同时施加，并在相同的方向上，会增加感知到的僵硬度。在此，我们研究了人工拉伸的方向对刚度感知和握力控制的影响。我们分别向被试呈现动觉力和负或正的人工拉伸，与由动觉力引起的自然拉伸方向相反或相同。我们的结果表明，人工皮肤在两个方向上的拉伸都增加了感知刚度;然而，负拉伸引起的增强始终低于正拉伸引起的增强。此外，我们提出了一个计算模型，该模型基于受刺激的机械感受器的首选方向来预测感知效应。当检查握力时，我们发现参与者在积极的皮肤拉伸过程中比消极的皮肤拉伸过程中施加了更高的握力，这与感知结果是一致的。这些结果可能对可穿戴触觉设备、远程操作和机器人辅助手术的触觉技术有用。

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引用次数: 0

Tactile Features of Human Finger Contact Motor Primitives 人类手指接触运动原语的触觉特征。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-11-13 DOI: 10.1109/TOH.2023.3332402

Qianqian Tian;Jixiao Liu;Kuo Liu;Shijie Guo

The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental motor primitives: contact-on, stick-to-slip, and full slip, then examined the tactile features associated with each motor primitive, including the center of mass (COM) and the centroid of the contact pressure distribution matrix and the total contact area. The change in fingertip contact area during contact-on was in accordance with a first-order kinetic model. In the stick-to-slip, there was a generalized linear relationship between the fingertip skin stretch and the magnitude of the tangential force. Moreover, the skin stretch of the fingertip mirrored the direction of the motion. During the full slip, the COM's movement effectively represented the direction of the tangential force, with an error margin of no more than five degrees. Experiments showed that certain fingertip motions can be portrayed, transmitted, and replicated using tactile information. This research opens potential avenues for remote immersive physical communication in robotics and other related fields.

人类的手通过物理接触与环境相互作用，触觉信息与手指的运动模式密切相关。研究手指的运动基元与相应的触觉反馈之间的关系，为了解触觉的本质提供了有价值的见解，并为仿人触觉的模拟提供了依据。本研究将手指接触分解为三个基本的运动基元:触碰、粘滑和全滑，并研究了与每个运动基元相关的触觉特征，包括质心、接触压力分布矩阵质心和总接触面积。接触过程中指尖接触面积的变化符合一级动力学模型。在粘滑中，指尖皮肤拉伸与切向力大小之间存在广义线性关系。此外，指尖的皮肤拉伸反映了运动的方向。在完全滑移期间，COM的运动有效地代表了切向力的方向，误差范围不超过5度。实验表明，某些指尖运动可以用触觉信息来描绘、传递和复制。本研究为机器人和其他相关领域的远程沉浸式物理通信开辟了潜在的途径。

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引用次数: 0

Fuzzy Evaluation Method for Haptic Perceptual Similarity 触觉感知相似性的模糊评价方法。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-11-10 DOI: 10.1109/TOH.2023.3331032

Yan Zhang;Riting Xia;Xiaoying Sun

Tactile rendering in virtual interactive scenes plays an important role in improving the quality of user experience. The subjective rating is currently the mainstream measurement to assess haptic rendering realism, which ignores various subjective and objective uncertainties in the evaluation process and also neglects the mutual influence among tactile renderings. In this paper, we extend the existing subjective evaluation and systematically propose a fuzzy evaluation method of haptic rendering realism. Hierarchical fuzzy scoring based on confidence interval is introduced to reduce the difficulty of expressing tactile feeling with deterministic rating. After the fuzzy statistics based on the membership function, we further use close-degree and transitive closure to calculate the fuzzy equivalence matrix between different tactile renderings. Fuzzy clustering is carried out to complete the comprehensive evaluation in the case of multiple indicators. Five tactile objects are used to simulate various situations of tactile rendering. The experimental results of haptic perceptual similarity evaluation show the existence of fuzziness in the subjective evaluation and verify the feasibility of the proposed method applied to multi-indicator evaluation. We also conclude that the proposed method outperforms the existing methods in terms of time cost and labor cost.

虚拟交互场景中的触觉渲染在提高用户体验质量方面发挥着重要作用。主观评级是目前评估触觉渲染真实性的主流衡量标准，它忽略了评估过程中的各种主客观不确定性，也忽略了触觉渲染之间的相互影响。在本文中，我们扩展了现有的主观评价，系统地提出了一种触觉渲染真实感的模糊评价方法。引入了基于置信区间的分层模糊评分，以降低确定性评分表达触觉的难度。在基于隶属函数的模糊统计之后，我们进一步使用贴近度和传递闭包来计算不同触觉渲染之间的模糊等价矩阵。在多指标的情况下，进行模糊聚类以完成综合评价。使用五个触觉对象来模拟触觉渲染的各种情况。触觉感知相似性评价的实验结果表明主观评价中存在模糊性，验证了该方法应用于多指标评价的可行性。我们还得出结论，所提出的方法在时间成本和劳动力成本方面优于现有方法。

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引用次数: 0

Teaching Motor Skills Without a Motor: A Semi-Passive Robot to Facilitate Learning 无马达运动技能教学：促进学习的半被动机器人。

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2023-11-08 DOI: 10.1109/TOH.2023.3330368

Thomas E. Augenstein;C. David Remy;Edward S. Claflin;Rajiv Ranganathan;Chandramouli Krishnan

Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robots use controllable active force elements (e.g., motors). Semi-passive robots can address cost and safety limitations of active robots, but it is unclear if they have utility in rehabilitation. Here, we assessed if a semi-passive robot could provide haptic guidance to facilitate motor learning. We first performed a theoretical analysis of the robot's ability to provide haptic guidance, and then used a prototype to perform a motor learning experiment that tested if the guidance helped participants learn to trace a shape. Unlike prior studies, we minimized the confounding effects of visual feedback during motor learning. Our theoretical analysis showed that our robot produced guidance forces that were, on average, 54

$^circ$

from the current velocity (active devices achieve 90

$^circ$

). Our motor learning experiment showed, for the first time, that participants who received haptic guidance during training learned to trace the shape more accurately (97.57% error to 52.69%) than those who did not receive guidance (81.83% to 78.18%). These results support the utility of semi-passive robots in rehabilitation.

半被动康复机器人仅使用可控的被动力元件（例如可控制动器）来抵抗和引导患者的运动。相反，被动机器人使用不可控的被动力元件（例如弹簧），而主动机器人使用可控的主动力元件（如电机）。半被动机器人可以解决主动机器人的成本和安全限制，但尚不清楚它们在康复中是否有用。在这里，我们评估了半被动机器人是否可以提供触觉指导来促进运动学习。我们首先对机器人提供触觉引导的能力进行了理论分析，然后使用原型进行了运动学习实验，测试引导是否有助于参与者学习追踪形状。与先前的研究不同，我们在运动学习过程中最大限度地减少了视觉反馈的混杂效应。我们的理论分析表明，我们的机器人产生的引导力平均与当前速度相差54°（有源设备达到90°）。我们的运动学习实验首次表明，在训练中接受触觉指导的参与者比没有接受指导的参与者（81.83%至78.18%）更准确地追踪形状（97.57%至52.69%）。这些结果支持了半被动机器人在康复中的实用性。

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引用次数: 0

Three-Dimensional Position Presentation via Head and Waist Vibrotactile Arrays 通过头部和腰部可控振动阵列的三维位置演示。

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2023-11-03 DOI: 10.1109/TOH.2023.3329929

Syunsuke Tawa;Hikaru Nagano;Yuichi Tazaki;Yasuyoshi Yokokohji

This article introduces a novel system designed to convey the three-dimensional positions surrounding the user. The system incorporates circumferential vibrotactile arrays strategically positioned on both the user's head and waist. Through the synergy of this two-dimensional arrangement and modulations in vibration amplitude, the system adeptly presents comprehensive three-dimensional positional information. Two prototypes, namely a spherical model and a cylindrical model, were employed as mappings between three-dimensional positions and vibration amplitudes. In Experiment 1, we evaluated the system's performance in indicating positions in depth, orientation, and height. Notably, discrimination rates for depth (Task 1) and orientation (Task 2) were 60% and 54%, respectively. Regarding height discrimination in the head-to-waist condition (Tasks 3 and 4), the cylindrical model outperformed the spherical model (54% and 52% vs. 32% and 36%). Conversely, in the head-above and waist-below condition (Task 5), the cylindrical model achieved a discrimination rate of 45%, while the spherical model did not. In Experiment 2, we explored the use of the cylindrical model to convey a moving three-dimensional position. The results showed an impressive 81% correct response rate, affirming the system's effectiveness in presenting three-dimensional motion stimuli.

本文介绍了一种新颖的系统，旨在传达用户周围的三维位置。该系统结合了周向振动触觉阵列，该阵列战略性地定位在用户的头部和腰部。通过这种二维排列和振幅调制的协同作用，该系统熟练地呈现了全面的三维位置信息。两个原型，即球形模型和圆柱形模型，被用作三维位置和振幅之间的映射。在实验1中，我们评估了该系统在指示深度、方向和高度位置方面的性能。值得注意的是，深度（任务1）和定向（任务2）的辨别率分别为60%和54%。关于头到腰条件下的身高辨别（任务3和4），圆柱形模型的表现优于球形模型（54%和52%对32%和36%）。相反，在头部以上和腰部以下的情况下（任务5），圆柱形模型的识别率为45%，而球形模型则没有。在实验2中，我们探索了使用圆柱形模型来传递移动的三维位置。结果显示，81%的正确反应率令人印象深刻，肯定了该系统在呈现三维运动刺激方面的有效性。

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引用次数: 0

A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery 机器人辅助微创手术中的力传感技术综述。

IF 2.9 3区计算机科学 Q2 Computer Science

IEEE Transactions on Haptics

Pub Date : 2023-11-03 DOI: 10.1109/TOH.2023.3329172

Wenjie Wang;Jie Wang;Yang Luo;Xiaohua Wang;Huajian Song

Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of RMIS, with a particular focus on direct and indirect force sensing. In this survey, the relevant literature on various sensing principles, haptic sensor design standards, and sensing technologies between 2000 and 2022 is reviewed. This survey can also serve as a roadmap for future developments by identifying the shortcomings of the field and discussing the emerging trends in force sensing methods.

微创手术（MIS）通常用于一些机器人辅助手术（RAS）系统。然而，许多RAS缺乏手术工具的强度和触感。因此，研究人员在机器人辅助微创手术（RMIS）中开发了各种力传感技术。本文对RMIS领域的力传感方法进行了系统的分类和综述，特别关注直接和间接力传感。在这项调查中，回顾了2000年至2022年间关于各种传感原理、触觉传感器设计标准和传感技术的相关文献。这项调查还可以作为未来发展的路线图，通过确定该领域的缺点和讨论力传感方法的新趋势。

引用次数: 0