Soft and integrated design can enable wearable haptic devices to augment natural human taction. This paper proposes a novel, soft, haptic finger-worn wearable device based on compliant and adhesive silicone skin and lightweight twisted and coiled polymer (TCP) actuators using ultra high molecular weight polyethylene (UHMWPE) fibers to provide lateral skin stretch sensations. Recently, silicone elastomers have been used in wearable sensors and in haptic applications for their high compliance or adhesion. TCP actuators have also demonstrated high power to weight ratios, large stroke length, simple mechanism, and inherent softness. Lateral skin stretch is sensitive to small motions and has been used for intuitive proprioceptive feedback applications. We combined these characteristics to design and manufacture a wearable, functional haptic prototype. Prototype performance was evaluated using an optical tracking system, a force gauge test bench, and compared to vibrotactile haptic feedback in a experiment with 14 healthy participants. Results showed that participant mean reaction times were comparable to those of a vibrotactile feedback system, though task completion times were longer. This paper is the first to employ TCP actuators for haptic stimulation and could serve as a foundation for future applications involving soft wearable haptics in gaming, health, and virtual reality.

中文翻译：

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使用扭曲和盘绕聚合物致动器的用于触觉反馈的柔软可穿戴皮肤拉伸装置

柔软的集成设计可以使可穿戴触觉设备增强自然的人类触觉。本文提出了一种新型、柔软、有触觉的手指佩戴可穿戴设备，该设备基于柔顺和粘性硅胶皮肤和轻量级扭曲和盘绕聚合物 (TCP) 致动器，使用超高分子量聚乙烯 (UHMWPE) 纤维提供横向皮肤拉伸感。最近，有机硅弹性体因其高顺应性或附着力而被用于可穿戴传感器和触觉应用。TCP 执行器还展示了高功率重量比、大行程长度、简单机制和固有的柔软性。横向皮肤拉伸对小动作很敏感，并已用于直观的本体感受反馈应用。我们结合这些特性来设计和制造可穿戴的功能性触觉原型。原型性能使用光学跟踪系统、测力计测试台进行评估，并与 14 名健康参与者的实验中的振动触觉反馈进行比较。结果表明，参与者的平均反应时间与振动触觉反馈系统的反应时间相当，但任务完成时间更长。本文是第一个使用 TCP 执行器进行触觉刺激的论文，可作为未来软可穿戴触觉在游戏、健康和虚拟现实中的应用的基础。虽然任务完成时间更长。本文是第一个使用 TCP 执行器进行触觉刺激的论文，可作为未来软可穿戴触觉在游戏、健康和虚拟现实中的应用的基础。虽然任务完成时间更长。本文是第一个使用 TCP 执行器进行触觉刺激的论文，可作为未来软可穿戴触觉在游戏、健康和虚拟现实中的应用的基础。